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Many species have evolved advanced non-visual perception while artificial systems fall behind. Radar and ultrasound complement camera-based vision but they are often too costly and complex to set up for very limited information gain. In…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…

The application of unmanned aerial vehicles (UAVs) is surging across several industries, paralleled by growing demand for these UAVs. However, the noise emitted by UAVs remains a significant impediment to their widespread use even though in…

Autonomous navigation for Unmanned Aerial Vehicles faces key challenges from limited onboard computational resources, which restrict deployed deep neural networks to shallow architectures incapable of handling complex environments.…

Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…

Detecting small objects, such as drones, over long distances presents a significant challenge with broad implications for security, surveillance, environmental monitoring, and autonomous systems. Traditional imaging-based methods rely on…

The rapid developments of mobile robotics and autonomous navigation over the years are largely empowered by public datasets for testing and upgrading, such as sensor odometry and SLAM tasks. Impressive demos and benchmark scores have…

We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile-CPU processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at…

There has been a rapid growth in the deployment of Unmanned Aerial Vehicles (UAVs) in various applications ranging from vital safety-of-life such as surveillance and reconnaissance at nuclear power plants to entertainment and hobby…

Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore…

Applications of unmanned aerial vehicle (UAV) in logistics, agricultural automation, urban management, and emergency response are highly dependent on oriented object detection (OOD) to enhance visual perception. Although existing datasets…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…

The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…

This paper addresses the issue of motion planning in dynamic environments by extending the concept of Velocity Obstacle and Nonlinear Velocity Obstacle to Acceleration Obstacle AO and Nonlinear Acceleration Obstacle NAO. Similarly to VO and…

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…