Related papers: Flying through cluttered and dynamic environments …
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…
Many existing obstacle avoidance algorithms overlook the crucial balance between safety and agility, especially in environments of varying complexity. In our study, we introduce an obstacle avoidance pipeline based on reinforcement…
Autonomous navigation for large Unmanned Aerial Vehicles (UAVs) is fairly straight-forward, as expensive sensors and monitoring devices can be employed. In contrast, obstacle avoidance remains a challenging task for Micro Aerial Vehicles…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Modeling (BIM), and robot navigation. Motorized LiDAR systems…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…