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Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…
Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual…
In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
This study investigates unmanned aerial vehicle (UAV) trajectory planning strategies for localizing a target mobile device in emergency situations. The global navigation satellite system (GNSS)-based accurate position information of a…
We rely on Nagumo's invariance theorem to develop a new approach for navigation in unknown environments of arbitrary dimension. The idea consists in projecting the nominal velocities (that would drive the robot to the target in the absence…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
In bearing only tracking using a towed array, the array can sense the bearing angle of the target but is unable to differentiate whether the target is on the left or the right side of the array. Thus, the traditional tracking algorithm…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Consider a target moving at a constant velocity on a unit-circumference circle, starting at an arbitrary location. To acquire the target, any region of the circle can be probed to obtain a noisy measurement of the target's presence, where…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…