Related papers: Vision Transformers for End-to-End Vision-Based Qu…

End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…

This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…

In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

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,…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…

Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe…

We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…

Visual active tracking is a growing research topic in robotics due to its key role in applications such as human assistance, disaster recovery, and surveillance. In contrast to passive tracking, active tracking approaches combine vision and…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…

First-order reinforcement learning with differentiable simulation is promising for quadrotor control, but practical progress remains fragmented across task-specific settings. To support more systematic development and evaluation, we present…

In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated with manual tasks in domains such as industrial inspection,…

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

Vision Transformer (ViT) architectures are becoming increasingly popular and widely employed to tackle computer vision applications. Their main feature is the capacity to extract global information through the self-attention mechanism,…

Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability, such as search and rescue, delivery and autonomous drone racing, etc. One of…