相关论文: View Planning and Navigation Algorithms for Autono…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
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…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
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 article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
We study the problem of visual surface inspection of a bridge for defects using an Unmanned Aerial Vehicle (UAV). We do not assume that the geometric model of the bridge is known beforehand. Our planner, termed GATSBI, plans a path in a…
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…
In response to the gap in considering wind conditions in the bridge inspection using unmanned aerial vehicle (UAV) , this paper proposes a path planning method for UAVs that takes into account the influence of wind, based on the simulated…
In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated with manual tasks in domains such as industrial inspection,…
Navigation of UAVs in challenging environments like tunnels or mines, where it is not possible to use GNSS methods to self-localize, illumination may be uneven or nonexistent, and wall features are likely to be scarce, is a complex task,…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
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 study, a novel technique for the autonomous visual inspection of rotating wind turbine rotor blades utilizing an unmanned aerial vehicle (UAV) was developed. This approach addresses the challenges presented by the dynamic…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…