Related papers: Jointly-optimized Trajectory Generation and Camera…
UAVs have become one of the widely used remote sensing platforms and played a critical role in the construction of smart cities. However, due to the complex environment in urban scenes, secure and accurate data acquisition brings great…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
As fully-actuated systems, omnidirectional multirotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs. %Due to the high…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Low-altitude economy includes the application of unmanned aerial vehicles (UAVs) serving ground robots. This paper investigates the 3-dimensional (3D) trajectory and communication optimization for low-altitude air-ground cooperation…
Recently, UAVs endowed with high mobility, low cost, and remote control have promoted the development of UAV-assisted real-time video/image acquisition applications, which have a high demand for both transmission rate and image resolution.…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…
Recent advances in text-to-3D scene generation have demonstrated significant potential to transform content creation across multiple industries. Although the research community has made impressive progress in addressing the challenges of…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
This paper investigates an aerial reconfigurable intelligent surface (RIS)-aided communication system under the probabilistic line-of-sight (LoS) channel, where an unmanned aerial vehicle (UAV) equipped with an RIS is deployed to assist two…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
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…