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Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…
Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…
This paper studies the problem of designing a certified vision-based state estimator for autonomous landing systems. In such a system, a neural network (NN) processes images from a camera to estimate the aircraft relative position with…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Controlled gliding is one of the most energetically efficient modes of transportation for natural and human powered fliers. Here we demonstrate that gliding and landing strategies with different optimality criteria can be identified through…
The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) on ships without utilizing GPS signal. The central idea…
Carrier landing of aircrafts is a challenge for control due to the existence of nonlinear wind disturbances and the requirements of changing reference trajectories. In this paper, a robust landing control system is presented for carrier…
Estimating the pose of an uncooperative spacecraft is an important computer vision problem for enabling the deployment of automatic vision-based systems in orbit, with applications ranging from on-orbit servicing to space debris removal.…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
Autonomous underwater vehicles rely on precise navigation systems that combine the inertial navigation system and the Doppler velocity log for successful missions in challenging environments where satellite navigation is unavailable. The…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
The detection and tracking of celestial surface terrain features are crucial for autonomous spaceflight applications, including Terrain Relative Navigation (TRN), Entry, Descent, and Landing (EDL), hazard analysis, and scientific data…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
The problem of autonomous launch and landing of a tethered rigid aircraft for airborne wind energy generation is addressed. The system operates with ground-based power conversion and pumping cycles, where the tether is repeatedly reeled in…