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A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
We study GCS-TSP, a new variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) -- a powerful representation for trajectory planning that decomposes the configuration space into convex regions connected by…
We present GATSBI, a generative model that can transform a sequence of raw observations into a structured latent representation that fully captures the spatio-temporal context of the agent's actions. In vision-based decision-making…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…
Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…
3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…
In this paper, a new demonstration-based path-planning framework for the visual inspection of large structures using UAVs is proposed. We introduce UPPLIED: UAV Path PLanning for InspEction through Demonstration, which utilizes a…
In this paper, we study an unmanned aerial vehicle(UAV)-enabled wireless sensor network, where a UAV is dispatched to collect the sensed data from distributed sensor nodes (SNs) for estimating an unknown parameter. It is revealed that in…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
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…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…