Related papers: Perception-aware Planning for Quadrotor Flight in …
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…
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…
Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict…
Autonomous exploration is one of the important parts to achieve the fast autonomous mapping and target search. However, most of the existing methods are facing low-efficiency problems caused by low-quality trajectory or back-and-forth…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception…
Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…
Global navigation satellite systems (GNSS) denied environments/conditions require unmanned aerial vehicles (UAVs) to energy-efficiently and reliably fly. To this end, this study presents perception-and-energy-aware motion planning for UAVs…
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…