相关论文: An Open-Source System for Vision-Based Micro-Aeria…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Capturing real-world aerial images for vision-based navigation (VBN) is challenging due to limited availability and conditions that make it nearly impossible to access all desired images from any location. The complexity increases when…
Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…
Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying…
In this paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV). The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating…
Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…