相关论文: Onboard Ranging-based Relative Localization and St…
In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
This paper presents an autonomous sensing framework for identifying and localizing multiple users in Fifth Generation (5G) cooperative networks using an Unmanned Aerial Vehicle (UAV) that is not part of the serving access network. Unlike…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightweight, and…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly…
In the past decade, Unmanned Aerial Vehicles (UAVs) have grabbed the attention of researchers in academia and industry for their potential use in critical emergency applications, such as providing wireless services to ground users and…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
In this paper we present an algorithm-hardware codesign for camera-based autonomous flight in small drones. We show that the large write-latency and write-energy for nonvolatile memory (NVM) based embedded systems makes them unsuitable for…
Drone swarms are required for the simultaneous delivery of multiple packages. We demonstrate a multi-stop drone swarm-based delivery in a smart city. We leverage formation flying to conserve energy and increase the flight range of a drone…
In this paper, we investigate the problem of UAV-aided user localization in wireless networks. Unlike the existing works, we do not assume perfect knowledge of the UAV location, hence we not only need to localize the users but also to track…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…
Image retrieval (IR) has emerged as a promising approach for self-localization in unmanned aerial vehicles (UAVs). However, IR-based methods face several challenges: 1) Pre- and post-processing incur significant computational and storage…
In this paper, we investigate the potential of reconfigurable intelligent surfaces (RISs) in facilitating passive/device-free three-dimensional (3D) drone localization within existing cellular infrastructure operating at millimeter-wave…
This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…
Remote state estimation, where sensors send their measurements of distributed dynamic plants to a remote estimator over shared wireless resources, is essential for mission-critical applications of Industry 4.0. Existing algorithms on…
Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although…