相关论文: An Open-Source System for Vision-Based Micro-Aeria…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…

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 navigation for large Unmanned Aerial Vehicles (UAVs) is fairly straight-forward, as expensive sensors and monitoring devices can be employed. In contrast, obstacle avoidance remains a challenging task for Micro Aerial Vehicles…

Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the…

In this paper, we propose a systematic framework for fast exploration of complex and large 3-D environments using micro aerial vehicles (MAVs). The key insight is the organic integration of the frontier-based and sampling-based strategies…

In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…

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…

Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…

The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…

Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…

Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs). As these robots aspire for high-speed autonomous flights in complex dynamic environments, robust scene…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the…

Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…

For autonomous vehicles to operate without human intervention, information sharing from local sensors plays a fundamental role. This can be challenging to handle with bandwidth-constrained communication systems, which calls for the adoption…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

We present a micro aerial vehicle (MAV) system, built with inexpensive off-the-shelf hardware, for autonomously following trails in unstructured, outdoor environments such as forests. The system introduces a deep neural network (DNN) called…