相关论文: A Vision-Based Control Method for Autonomous Landi…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…
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 this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…
A novel control & software architecture using ROS C++ is introduced for object interception by a UAV with a mounted depth camera and no external aid. Existing work in trajectory prediction focused on the use of off-board tools like motion…
Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…
Unmanned Aerial Vehicles (UAVs) rely on satellite systems for stable positioning. However, due to limited satellite coverage or communication disruptions, UAVs may lose signals from satellite-based positioning systems. In such situations,…
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…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…
This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision,…
Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…
At smaller airports without an instrument approach or advanced equipment, automatic landing of aircraft is a safety-critical task that requires the use of sensors present on the aircraft. In this paper, we study falsification of an…