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

In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent…

Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…

In this paper, we explore the application of Unmanned Aerial Vehicles (UAVs) in maritime search and rescue (mSAR) missions, focusing on medium-sized fixed-wing drones and quadcopters. We address the challenges and limitations inherent in…

Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…

Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…

The ultimate research goal for unmanned aerial vehicles (UAVs) is to facilitate autonomy of operation. Research in the last decade has highlighted the potential of vision sensing in this regard. Although vital for accomplishment of missions…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRNAV, a framework for planning and control to effectively…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…

Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…

Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…

Deep learning has become the gold standard for image processing over the past decade. Simultaneously, we have seen growing interest in orbital activities such as satellite servicing and debris removal that depend on proximity operations…

In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…

One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…