Related papers: Relative State Estimation using Event-Based Propel…
This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…
Event cameras are promising devices for lowlatency tracking and high-dynamic range imaging. In this paper,we propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based…
The present work deals with a new passive system for real-time detection, classification and direction of arrival estimator of Unmanned Aerial Vehicles (UAVs). The proposed system composed of a very low cost hardware components, comprises…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and…
Event cameras are bio-inspired sensors that asynchronously report intensity changes in microsecond resolution. DAVIS can capture high dynamics of a scene and simultaneously output high temporal resolution events and low frame-rate intensity…
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…
We present a method that leverages the complementarity of event cameras and standard cameras to track visual features with low-latency. Event cameras are novel sensors that output pixel-level brightness changes, called "events". They offer…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
Aerators are essential and crucial auxiliary devices in intensive culture, especially in industrial culture in China. The traditional methods cannot accurately detect abnormal condition of aerators in time. Surveillance cameras are widely…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…
This paper deals with the problem of state estimation for a class of linear time-invariant systems with quadratic output measurements. An immersion-type approach is presented that transforms the system into a state-affine system by adding a…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…
The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective…
Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based…
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…