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

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex…

This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…

Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche risk forecast is imagery of released avalanches. As these…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…

The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…

In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…

Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…

Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption and computational overhead. Moreover, micro UAVs under…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…

For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…

In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection,…

This research will proposed a new kind of relatively low cost autonomous UAV that will enable farmers to make just in time mosaics of aerial photo of their crop. These mosaics of aerial photo should be able to be produced with relatively…

Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…

Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…