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In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
This work aims to investigate the use of deep neural network to detect commercial hobby drones in real-life environments by analyzing their sound data. The purpose of work is to contribute to a system for detecting drones used for malicious…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
Autonomous drones must often respond to sudden events, such as alarms, faults, or unexpected changes in their environment, that require immediate and adaptive decision-making. Traditional approaches rely on safety engineers hand-coding…
While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…
Autonomous missions of drones require continuous and reliable estimates for the drone's attitude, velocity, and position. Traditionally, these states are estimated by applying Extended Kalman Filter (EKF) to Accelerometer, Gyroscope,…
The performance of ensemble-based data assimilation techniques that estimate the state of a dynamical system from partial observations depends crucially on the prescribed uncertainty of the model dynamics and of the observations. These are…
The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…
This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…
QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
The advances in virtualization technologies have sparked a growing transition from virtual machine (VM)-based to container-based infrastructure for cloud computing. From the resource orchestration perspective, containers' lightweight and…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
Event cameras provide high-temporal-resolution visual sensing that is well suited for observing fast-moving aerial objects; however, their use for drone trajectory prediction remains limited. This work introduces an event-only drone…
During the COVID-19 pandemic and similar outbreaks in the future, drones can be set up to reduce human interaction for medical supplies delivery, which is crucial in times of pandemic. In this short paper, we introduce the use of two…
In this paper, the problem of drone-assisted collaborative learning is considered. In this scenario, swarm of intelligent wireless devices train a shared neural network (NN) model with the help of a drone. Using its sensors, each device…
The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…