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This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…
Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands their application areas to aerial interaction and…
Drones are enabling new forms of cinematography. However, quadrotor cinematography requires accurate comprehension of the scene, technical skill of flying, artistic skill of composition and simultaneous realization of all the requirements…
The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…
Reconfigurable antennas (RAs) have emerged as a promising technology for future wireless networks, offering additional flexibility for wireless communications. Among existing designs, rotatable antennas are particularly effective in…
3D phenotyping of plants plays a crucial role for understanding plant growth, yield prediction, and disease control. We present a pipeline capable of generating high-quality 3D reconstructions of individual agricultural plants. To acquire…
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…
This paper studies the feasibility of supporting drone operations using existent cellular infrastructure. We propose an analytical framework that includes the effects of base station (BS) height and antenna radiation pattern, drone antenna…
Single-image-to-3D generative models can now produce high-quality geometry, yet conditioning on a single view inevitably introduces ambiguity about unseen regions. Multi-view conditioning can reduce this ambiguity, but existing methods…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Despite achieving remarkable progress in recent years, single-image super-resolution methods are developed with several limitations. Specifically, they are trained on fixed content domains with certain degradations (whether synthetic or…
Rotated object detection in aerial images is still challenging due to arbitrary orientations, large scale and aspect ratio variations, and extreme density of objects. Existing state-of-the-art rotated object detection methods mainly rely on…
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…
Recovering a drone on a disturbed water surface remains a significant challenge in maritime robotics. In this paper, we propose a unified framework for robot-assisted drone recovery on a wavy surface that addresses two major tasks: Firstly,…