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This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…
This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real…
Achieving resilience remains a significant challenge for Unmanned Aerial Vehicle (UAV) communications in 5G and 6G networks. Although UAVs benefit from superior positioning capabilities, rate optimization techniques, and extensive…
Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…
The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and…
A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
The ascension of Unmanned Aerial Vehicles (UAVs) in various fields necessitates effective UAV image segmentation, which faces challenges due to the dynamic perspectives of UAV-captured images. Traditional segmentation algorithms falter as…
The use of supervised learning with various sensing techniques such as audio, visual imaging, thermal sensing, RADAR, and radio frequency (RF) have been widely applied in the detection of unmanned aerial vehicles (UAV) in an environment.…
Conducting safety simulations in various simulators, such as the Gazebo simulator, became a very popular means of testing vehicles against potential safety risks (i.e. crashes). However, this was not the case with security testing.…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…
Monitoring propeller failures is vital to maintain the safe and reliable operation of quadrotor UAVs. The simulation-to-reality UAV fault diagnosis technique offer a secure and economical approach to identify faults in propellers. However,…
This paper proposes a novel intrusion detection method for unmanned aerial vehicles (UAV) in the presence of recent actual UAV intrusion dataset. In particular, in the first stage of our method, we design an autoencoder architecture for…
Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…