Related papers: A General Purpose Method for Robotic Interception …
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…
Selective interception of objects in unknown environment autonomously by UAVs is an interesting problem. In this work, vision based interception is carried out. This problem is a part of challenge 1 of Mohammed Bin Zayed International…
This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target encirclement and interception strategy. Unlike traditional…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…
This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
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…
Space debris and inactive satellites pose a threat to the safety and integrity of operational spacecraft and motivate the need for space situational awareness techniques. These uncooperative targets create a challenging tracking and…
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…