相关论文: View Planning and Navigation Algorithms for Autono…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether withcontrollable length. To the best…
Future networks of unmanned aerial vehicles (UAVs) will be tasked to carry out ever-increasing complex operations that are time-critical and that require accurate localization performance (e.g., tracking the state of a malicious user).…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…
Aerial networks, composed of Unmanned Aerial Vehicles (UAVs) acting as Wi-Fi access points or cellular base stations, are emerging as an interesting solution to provide on-demand wireless connectivity to users, when there is no network…
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 unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Autonomous UAV flight in confined, wall-dense environments requires low-latency and reliable motion planning under strict safety constraints. Traditional optimization-based planners suffer from mapping latency and easily fall into local…
This research investigates the efficiency of Floyd algorithm for obstacle-free path planning for autonomous aerial vehicles (UAVs) or drones. Floyd algorithm is used to generate the shortest paths for UAVs to fly from any place to the…
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)…
Wind power is a clean and widely deployed alternative to reducing our dependence on fossil fuel power generation. Under this trend, more turbines will be installed in wind farms. However, the inspection of the turbines in an offshore wind…
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when a robot reaches the damaged point. This…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud information from lidar is usually combined with data from…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
Unmanned aerial vehicles (UAVs) offer dynamic trajectory control, enabling them to avoid obstacles and establish line-of-sight (LoS) wireless channels with ground nodes (GNs), unlike traditional ground-fixed base stations. This study…