Related papers: Vision-Based Agile Landing on Turbulent Waters
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…
Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…
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…
Uncrewed Aerial Vehicles (UAVs) have become a focal point of research, with both established companies and startups investing heavily in their development. This paper presents our iterative process in developing a robust autonomous…
Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…
In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…
Multi-rotor UAVs face limited flight time due to battery constraints. Autonomous docking on blimps with onboard battery recharging and data offloading offers a promising solution for extended UAV missions. However, the vulnerability of…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…
Transition control poses a critical challenge in Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL UAV) development due to the tilting rotor mechanism, which shifts the center of gravity and thrust direction during transitions.…
Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…
Effective solutions for intelligent data collection in terrestrial cellular networks are crucial, especially in the context of Internet of Things applications. The limited spectrum and coverage area of terrestrial base stations pose…
Recently, there has been growing interest in autonomous shipping due to its potential to improve maritime efficiency and safety. The use of advanced technologies, such as artificial intelligence, can address the current navigational and…
As space becomes more congested, on orbit inspection is an increasingly relevant activity whether to observe a defunct satellite for planning repairs or to de-orbit it. However, the task of on orbit inspection itself is challenging,…
At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his…
This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…