相关论文: Google Map Aided Visual Navigation for UAVs in GPS…
We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…
Onboard sensors, such as cameras and thermal sensors, have emerged as effective alternatives to Global Positioning System (GPS) for geo-localization in Unmanned Aerial Vehicle (UAV) navigation. Since GPS can suffer from signal loss and…
Global navigation satellite systems (GNSS) denied environments/conditions require unmanned aerial vehicles (UAVs) to energy-efficiently and reliably fly. To this end, this study presents perception-and-energy-aware motion planning for UAVs…
Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
Mobile base stations on board unmanned aerial vehicles (UAVs) promise to deliver connectivity to those areas where the terrestrial infrastructure is overloaded, damaged, or absent. A fundamental problem in this context involves determining…
This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…
In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…
The anticipated widespread use of unmanned aerial vehicles (UAVs) raises significant safety and security concerns, including trespassing in restricted areas, colliding with other UAVs, and disrupting high-traffic airspaces. To mitigate…
Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios. Recent work has focused on ground or close to ground applications…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Vision-based pose estimation of Unmanned Aerial Vehicles (UAV) in unknown environments is a rapidly growing research area in the field of robot vision. The task becomes more complex when the only available sensor is a static single camera…
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…
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…