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

Vision transformers (ViT) have demonstrated impressive performance across various machine vision problems. These models are based on multi-head self-attention mechanisms that can flexibly attend to a sequence of image patches to encode…

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…

Unmanned Aerial Vehicles (UAVs) have been emerging as an effective solution for IoT data collection networks thanks to their outstanding flexibility, mobility, and low operation costs. However, due to the limited energy and uncertainty from…

Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…

Self-attention in Transformers comes with a high computational cost because of their quadratic computational complexity, but their effectiveness in addressing problems in language and vision has sparked extensive research aimed at enhancing…

We introduce JetViT, a novel family of hybrid-architecture Vision Transformer (ViT) models that match the accuracy of state-of-the-art full-attention vision foundation models while achieving substantially higher inference efficiency on…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

Vision Transformer (ViT), as a powerful alternative to Convolutional Neural Network (CNN), has received much attention. Recent work showed that ViTs are also vulnerable to adversarial examples like CNNs. To build robust ViTs, an intuitive…

Unmanned aerial vehicle object detection (UAV-OD) has been widely used in various scenarios. However, most existing UAV-OD algorithms rely on manually designed components, which require extensive tuning. End-to-end models that do not depend…

In recent years, the Vision Transformer (ViT) has garnered significant attention within the computer vision community. However, the core component of ViT, Self-Attention, lacks explicit spatial priors and suffers from quadratic…

Hybrid vision transformers combine the elements of conventional neural networks (NN) and vision transformers (ViT) to enable lightweight and accurate detection. However, several challenges remain for their efficient deployment on…

In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…

Vision-and-language (VL) pre-training has proven to be highly effective on various VL downstream tasks. While recent work has shown that fully transformer-based VL models can be more efficient than previous region-feature-based methods,…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

Vision Transformers (ViTs) have emerged as a foundational model in computer vision, excelling in generalization and adaptation to downstream tasks. However, deploying ViTs to support diverse resource constraints typically requires…

The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…