Related papers: Towards Safe Mid-Air Drone Interception: Strategie…
In this study, we address the problem of in-flight object catching using a quadruped robot with a basket. Our objective is to accurately predict the impact point, defined as the object's landing position. This task poses two key challenges:…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
MAV-capturing-MAV (MCM) is one of the few effective methods for physically countering misused or malicious MAVs.This paper presents a vision-based cooperative MCM system, where multiple pursuer MAVs equipped with onboard vision systems…
This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating…
Autonomous aerial surveillance using drone feed is an interesting and challenging research domain. To ensure safety from intruders and potential objects posing threats to the zone being protected, it is crucial to be able to distinguish…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
We present an imitation learning method for autonomous drone patrolling based only on raw videos. Different from previous methods, we propose to let the drone learn patrolling in the air by observing and imitating how a human navigator does…
One prominent security threat that targets unmanned aerial vehicles (UAVs) is the capture via GPS spoofing in which an attacker manipulates a UAV's global positioning system (GPS) signals in order to capture it. Given the anticipated…
In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interference and GPS shielding may fail. This paper proposes a…
The capture of flying MAVs (micro aerial vehicles) has garnered increasing research attention due to its intriguing challenges and promising applications. Despite recent advancements, a key limitation of existing work is that capture…
Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world…
This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
Grabbing a manoeuvring target using drones is a challenging problem. This paper presents the design, development, and prototyping of a novel aerial manipulator for target interception. It is a single Degree of Freedom (DoF) manipulator with…
The unmanned air-vehicle (UAV) or mini-drones equipped with sensors are becoming increasingly popular for various commercial, industrial, and public-safety applications. However, drones with uncontrolled deployment poses challenges for…
Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…