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This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
In recent years, Virtual Reality (VR) Head-Mounted Displays (HMD) have been used to provide an immersive, first-person view in real-time for the remote-control of Unmanned Ground Vehicles (UGV). One critical issue is that it is challenging…
Aerial object detection using unmanned aerial vehicles (UAVs) faces critical challenges including sub-10px targets, dense occlusions, and stringent computational constraints. Existing detectors struggle to balance accuracy and efficiency…
This work details the problem of aerial target capture using multiple UAVs. This problem is motivated from the challenge 1 of Mohammed Bin Zayed International Robotic Challenge 2020. The UAVs utilise visual feedback to autonomously detect…
Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) have emerged as platforms capable of operating in both aerial and underwater environments, enabling applications such as inspection, mapping, search, and rescue in challenging scenarios.…
Unmanned Aerial Vehicles (UAVs) have become increasingly prominence in recent years, finding applications in surveillance, package delivery, among many others. Despite considerable efforts in developing algorithms that enable UAVs to…
This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct…
Unmanned aerial vehicle (UAV) communications have attracted significant attention from both academia and industry. To facilitate the large-scale usage of UAVs for various applications in practice, we provide a comprehensive survey on the…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
The increasing deployment of unmanned surface vehicles (USVs) require computational support and coverage in applications such as maritime search and rescue. Unmanned aerial vehicles (UAVs) can offer low-cost, flexible aerial services, and…
The underwater Unmanned Vehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular…
In recent years, there has been a dramatic increase in the use of unmanned aerial vehicles (UAVs), particularly for small UAVs, due to their affordable prices, ease of availability, and ease of operability. Existing and future applications…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…
Unmanned Aerial Vehicles (UAVs) are a disruptive technology that is transforming a range of industries. Because they operate in the sky, UAVs are able to take advantage of strong Line-of-Sight (LoS) channels for radio propagation, allowing…
Nowadays there is a growing research interest on the possibility of enriching small flying robots with autonomous sensing and online navigation capabilities. This will enable a large number of applications spanning from remote surveillance…