Related papers: Adaptive path planning for efficient object search…
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when a robot reaches the damaged point. This…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
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…
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
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 drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
Pedestrians and bicyclists are among the vulnerable road users (VRUs) that are inherently exposed to intricate traffic scenarios, which puts them at increased risk of sustaining injuries or facing fatal outcomes. This study presents an…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path…
Driving in an off-road environment is challenging for autonomous vehicles due to the complex and varied terrain. To ensure stable and efficient travel, the vehicle requires consideration and balancing of environmental factors, such as…
This paper presents a novel Mixture-of-Experts framework for object detection, incorporating adaptive routing among multiple YOLOv9-T experts to enable dynamic feature specialization and achieve higher mean Average Precision (mAP) and…
This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system…
There is a strong demand for covering a large area autonomously by multiple UAVs (Unmanned Aerial Vehicles) supported by a ground vehicle. Limited by UAVs' battery life and communication distance, complete coverage of large areas typically…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
3D object detection with point clouds and images plays an important role in perception tasks such as autonomous driving. Current methods show great performance on detection and pose estimation of standard-shaped vehicles but lack behind on…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…