相关论文: Free LSD: Prior-Free Visual Landing Site Detection…
We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…
Building a fully autonomous self-driving system has been discussed for more than 20 years yet remains unsolved. Previous systems have limited ability to scale. Their localization subsystem needs labor-intensive map recording for running in…
The emerging global market for unmanned aerial vehicle (UAV) services is anticipated to reach USD 58.4 billion by 2026, spurring significant efforts to safely integrate routine UAV operations into the national airspace in a manner that they…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Autonomous landing is essential for drones deployed in emergency deliveries, post-disaster response, and other large-scale missions. By enabling self-docking on charging platforms, it facilitates continuous operation and significantly…
In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…
Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a…
Freespace detection is an essential component of autonomous driving technology and plays an important role in trajectory planning. In the last decade, deep learning-based free space detection methods have been proved feasible. However,…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…
The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult to track and intercept. While existing methods focus on…
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…
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…
Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…