Related papers: FU-MPC: Frontier- and Uncertainty-Aware Model Pred…
Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…
Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…
Safely exploring environments with a-priori unknown constraints is a fundamental challenge that restricts the autonomy of robots. While safety is paramount, guarantees on sufficient exploration are also crucial for ensuring autonomous task…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
The mining sector increasingly adopts digital tools to improve operational efficiency, safety, and data-driven decision-making. One of the key challenges remains the reliable acquisition of high-resolution, geo-referenced spatial…
Like humans who rely on landmarks for orientation, autonomous robots depend on feature-rich environments for accurate localization. In this paper, we propose the GFM-Planner, a perception-aware trajectory planning framework based on the…
This paper presents a robust and secure framework for achieving accurate and reliable mutual localization in multiple unmanned aerial vehicle (UAV) systems. Challenges of accurate localization and security threats are addressed and…
In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous…
This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…
In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…