Related papers: Flying in air ducts
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability,…
With recent advancements in drone technology, researchers are now considering the possibility of deploying small cells served by base stations mounted on flying drones. A major advantage of such drone small cells is that the operators can…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
In image processing, it is essential to detect and track air targets, especially UAVs. In this paper, we detect the flying drone using a fisheye camera. In the field of diagnosis and classification of objects, there are always many problems…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…
The proliferation of drones, or unmanned aerial vehicles (UAVs), has raised significant safety concerns due to their potential misuse in activities such as espionage, smuggling, and infrastructure disruption. This paper addresses the…
We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs…
Aerial videos taken by a drone not too far above the surface may contain the drone's shadow projected on the scene. This deteriorates the aesthetic quality of videos. With the presence of other shadows, shadow removal cannot be directly…
In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other…
3D printing using robots has garnered significant interest in manufacturing and construction in recent years. A robot's versatility paired with the design freedom of 3D printing offers promising opportunities for how parts and structures…