相关论文: Effective Target Aware Visual Navigation for UAVs

This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…

Autonomous unmanned aerial vehicle (UAV) navigation in orchards presents significant challenges due to obstacles and GPS-deprived environments. In this work, we introduce a learning-based approach to achieve vision-based navigation of UAVs…

In this paper, we investigate the joint resource allocation and trajectory design for a multi-user, multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) system, where the link capacity between a…

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…

We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…

Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…

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 paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…

In this research, a unique approach to provide communication service for terrestrial receivers via using unmanned aerial vehicle-enabled visible light communication is investigated. Specifically, we take into account a unmanned aerial…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…

This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…

Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV's antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another…

There is an increased interest in the use of Unmanned Aerial Vehicles (UAVs) for agriculture, military, disaster management and aerial photography around the world. UAVs are scalable, flexible and are useful in various environments where…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…