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Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
Unmanned Aerial Vehicles (UAVs) rely on satellite systems for stable positioning. However, due to limited satellite coverage or communication disruptions, UAVs may lose signals from satellite-based positioning systems. In such situations,…
Supervised object detection methods provide subpar performance when applied to Foreign Object Debris (FOD) detection because FOD could be arbitrary objects according to the Federal Aviation Administration (FAA) specification. Current…
Low Probability of Detection (LPD) communication aims to obscure the very presence of radio frequency (RF) signals, going beyond just hiding the content of the communication. However, the use of Unmanned Aerial Vehicles (UAVs) introduces a…
Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…
Our work is motivated by environmental monitoring tasks, where finding the global maxima (i.e., hotspot) of a spatially varying field is crucial. We investigate the problem of identifying the hotspot for fields that can be sensed using an…
Many systems for autonomous vehicles' navigation rely on lane detection. Traditional algorithms usually estimate only the position of the lanes on the road, but an autonomous control system may also need to know if a lane marking can be…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
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…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
Unmanned Aerial Vehicles (UAVs), equipped with camera sensors can facilitate enhanced situational awareness for many emergency response and disaster management applications since they are capable of operating in remote and difficult to…
This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization.…
Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
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…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
In this study, a novel technique for the autonomous visual inspection of rotating wind turbine rotor blades utilizing an unmanned aerial vehicle (UAV) was developed. This approach addresses the challenges presented by the dynamic…