Related papers: Monocular Event-Based Vision for Obstacle Avoidanc…

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…

Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…

With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

Perception systems for ornithopters face severe challenges. The harsh vibrations and abrupt movements caused during flapping are prone to produce motion blur and strong lighting condition changes. Their strict restrictions in weight, size,…

This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…

Autonomous aerial cinematography has the potential to enable automatic capture of aesthetically pleasing videos without requiring human intervention, empowering individuals with the capability of high-end film studios. Current approaches…

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…

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…

Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time…

Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Event cameras are neuromorphically inspired sensors that sparsely and asynchronously report brightness changes. Their unique characteristics of high temporal resolution, high dynamic range, and low power consumption make them well-suited…