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In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…
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…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of applications requiring extensive communications, either to interconnect the UAVs with each other or with ground resources. Focusing either on the modeling…
Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map,…
The integration of air and ground smart vehicles is becoming a new paradigm of future transportation. A decent number of smart unmanned vehicles or UAS will be sharing the national airspace for various purposes, such as express delivery,…
Small multi-rotor unmanned aerial vehicles (UAVs), mainly quadcopters, are nowadays ubiquitous in research on aerial autonomy, including serving as scaled-down models for much larger aircraft such as vertical-take-off-and-lift vehicles for…
Unmanned aerial vehicle (UAV) swarms are increasingly used in critical applications such as aerial mapping, environmental monitoring, and autonomous delivery. However, the reliability of these systems is highly dependent on uninterrupted…
In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct…
Vision-Language Navigation (VLN) aims to guide agents by leveraging language instructions and visual cues, playing a pivotal role in embodied AI. Indoor VLN has been extensively studied, whereas outdoor aerial VLN remains underexplored. The…
Unmanned Aerial Vehicle (UAV) swarms offer versatile applications in logistics, agriculture, and surveillance, yet controlling them requires expert knowledge for safety and feasibility. Traditional static methods limit adaptability, while…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…