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Image-Based Visual Servoing (IBVS) provides an efficient vision-guided control paradigm for unmanned aerial vehicles (UAVs) by directly regulating image-space errors. However, conventional IBVS controllers are vulnerable to two critical…
This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
We introduce a novel framework to track multiple objects in overhead camera videos for airport checkpoint security scenarios where targets correspond to passengers and their baggage items. We propose a self-supervised learning (SSL)…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
The increasing need for automated visual monitoring and control for applications such as smart camera surveillance, traffic monitoring, and intelligent environments, necessitates the improvement of methods for visual active monitoring.…
With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…
We introduce a novel framework to track multiple objects in overhead camera videos for airport checkpoint security scenarios where targets correspond to passengers and their baggage items. We propose a Self-Supervised Learning (SSL)…
In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…
Image-based visual servoing (IBVS) is a widely-used approach in robotics that employs visual information to guide robots towards desired positions. However, occlusions in this approach can lead to visual servoing failure and degrade the…
Drones are a versatile platform for both amateur and professional photographers, enabling them to capture photos that are impossible to shoot with ground-based cameras. However, when guided by inexperienced pilots, they have a high…
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows…
In this study, we propose an innovative method for the real-time detection of GPS spoofing attacks targeting drones, based on the video stream captured by a drone's camera. The proposed method collects frames from the video stream and their…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target encirclement and interception strategy. Unlike traditional…
Unmanned aerial vehicle (UAV) detection and aerial object recognition are critical for modern surveillance and security, prompting a need for robust systems that overcome limitations of single-modality approaches. This research addresses…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…