Related papers: High-Speed Interception Multicopter Control by Ima…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…

Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…

Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and real-time tracking of these features are crucial to the…

In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…

Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…

When visual image information is transmitted via communication networks, it easily suffers from image attacks, leading to system performance degradation or even crash. This paper investigates secure control of networked inverted pendulum…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…

Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…

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…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By…

The use of Unmanned Aerial Vehicles (UAVs) as a substitute for ordinary vehicles in applications of search and rescue is being studied all over the world due to its flexible mobility and less obstruction, including two main tasks: search…

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View…

Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…

Object detection has made impressive progress in recent years with the help of deep learning. However, state-of-the-art algorithms are both computation and memory intensive. Though many lightweight networks are developed for a trade-off…

Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

In this work we showcase the design and assessment of the performance of a multi-camera UAV, when coupled with state-of-the-art planning and mapping algorithms for autonomous navigation. The system leverages state-of-the-art receding…