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Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
Urban Air Mobility is a new concept of regional aviation that has been growing in popularity as a solution to the issue of ever-increasing ground traffic. Electric vehicles with vertical take-off and landing capabilities are being developed…
Due to the strong nonlinearity and nonholonomic dynamics, despite the various general trajectory optimization methods presented, few of them can guarantee efficient computation and physical feasibility for relatively complicated fixed-wing…
Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…
Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Navigation of UAVs in challenging environments like tunnels or mines, where it is not possible to use GNSS methods to self-localize, illumination may be uneven or nonexistent, and wall features are likely to be scarce, is a complex task,…
Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited fuel capacity and hence requires periodic refueling to…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For…
The demand is to solve the issue of UAV (unmanned aerial vehicle) operating autonomously and implementing practical functions such as search and rescue in complex unknown environments. This paper proposes an autonomous search and rescue UAV…
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…
Autonomous exploration is critical for robot mapping unknown environments. Desirable characteristics of exploration algorithms include compute efficiency and small traversed distance during the exploration process. Motivated by these, we…
Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…
In this paper, we propose an autonomous UAV path planning framework using deep reinforcement learning approach. The objective is to employ a self-trained UAV as a flying mobile unit to reach spatially distributed moving or static targets in…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…