Related papers: Towards Safe Mid-Air Drone Interception: Strategie…
This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are…
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…
This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial vehicle (UAV), a four-wheeled ground…
This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the…
Autonomous missions of drones require continuous and reliable estimates for the drone's attitude, velocity, and position. Traditionally, these states are estimated by applying Extended Kalman Filter (EKF) to Accelerometer, Gyroscope,…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Autonomous drone pursuit requires not only detecting drones but also predicting their trajectories in a manner that enables kinematically feasible interception. Existing tracking methods optimize for prediction accuracy but ignore pursuit…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
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…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
Modern unmanned aerial vehicle threats require sophisticated interception strategies that can overcome advanced evasion capabilities and operate effectively in contested environments. Traditional single-interceptor and uncoordinated…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially accounts for the constraints imposed by the interceptor's…
This paper proposes a comprehensive strategy for complex multi-target-multi-drone encirclement in an obstacle-rich and GPS-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: the high-frequency control loop needed for agile flight…
Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones…
The rapid rise of accessibility of unmanned aerial vehicles or drones pose a threat to general security and confidentiality. Most of the commercially available or custom-built drones are multi-rotors and are comprised of multiple…
The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…