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This paper proposes and benchmarks two tether-based motion primitives for tethered UAVs to execute autonomous flight with proprioception only. Tethered UAVs have been studied mainly due to power and safety considerations. Tether is either…
Recently, visual grounding and multi-sensors setting have been incorporated into perception system for terrestrial autonomous driving systems and Unmanned Surface Vehicles (USVs), yet the high complexity of modern learning-based visual…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
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…
Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces,…
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…
In post-disaster scenarios, the rapid deployment of adequate communication infrastructure is essential to support disaster search, rescue, and recovery operations. To achieve this, uncrewed aerial vehicle (UAV) has emerged as a promising…
Collaborative heterogeneous robot systems can greatly improve the efficiency of target search and navigation tasks. In this paper, we design a heterogeneous robot system consisting of a UAV and a UGV for search and rescue missions in…
This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object…
Air-ground collaborative robots have shown great potential in the field of fire and rescue, which can quickly respond to rescue needs and improve the efficiency of task execution. Mapping and navigation, as the key foundation for air-ground…
Smart Micro Aerial Vehicles (MAVs) have transformed infrastructure inspection by enabling efficient, high-resolution monitoring at various stages of construction, including hard-to-reach areas. Traditional manual operation of drones in…
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…
The extensive application of unmanned aerial vehicles (UAVs) in military reconnaissance, environmental monitoring, and related domains has created an urgent need for accurate and efficient multi-object tracking (MOT) technologies, which are…
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 past few decades have witnessed the great progress of unmanned aircraft vehicles (UAVs) in civilian fields, especially in photogrammetry and remote sensing. In contrast with the platforms of manned aircraft and satellite, the UAV…
This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…
This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated…
Exploiting contacts with environment structures provides extra force support to a UAV, often reducing the power consumption and hence extending the mission time. This paper investigates one such way to exploit flat surfaces in the…
Accurate and reliable navigation is crucial for autonomous unmanned ground vehicle (UGV). However, current UGV datasets fall short in meeting the demands for advancing navigation and mapping techniques due to limitations in sensor…
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…