Related papers: Eva-Tracker: ESDF-update-free, Visibility-aware Pl…
Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction. Nevertheless, computing such a field has much redundancy…
Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for…
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…
Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. Trajectory optimization methods fulfill these needs, but…
This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unlike prior approaches that rely on discretized ESDF grids with…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
This paper presents a fundamental algorithm, called VDB-EDT, for Euclidean distance transform (EDT) based on the VDB data structure. The algorithm executes on grid maps and generates the corresponding distance field for recording distance…
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…
This paper presents the FS-Planner, a fast graph-search planner based on a modified Lazy Theta* algorithm that exploits the analytical properties of Euclidean Distance Fields (EDFs). We introduce a new cost function that integrates an…
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its field of view (FoV) despite line-of-sight obstructions. The…
How to effectively exploit spatio-temporal information is crucial to capture target appearance changes in visual tracking. However, most deep learning-based trackers mainly focus on designing a complicated appearance model or template…
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…
Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adaptation to unknown obstacles during flight. Existing methods largely emphasize collision avoidance and efficiency, but overlook…
An onboard target detection, tracking and avoidance system has been developed in this paper, for low-cost UAV flight controllers using AI-Based approaches. The aim of the proposed system is that an ally UAV can either avoid or track an…
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…
This paper presents a novel approach to enhance sensing capabilities in UAV-enabled MIMO-OFDM ISAC systems by leveraging UAV mobility as a mono-static radar. By integrating uniform planar arrays (UPAs) and modeling the UAV dynamics in…
Vision-based object tracking is an essential precursor to performing autonomous aerial navigation in order to avoid obstacles. Biologically inspired neuromorphic event cameras are emerging as a powerful alternative to frame-based cameras,…