相关论文: LoRa Backscatter Assisted State Estimator for Micr…

Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…

This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…

Micro Aerial Vehicles (MAVs) rely on onboard attitude and position sensors for autonomous flight. Due to their size, weight, and power (SWaP) constraints, most modern MAVs use miniaturized inertial measurement units (IMUs) to provide…

Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs). As these robots aspire for high-speed autonomous flights in complex dynamic environments, robust scene…

In this paper, a novel machine learning (ML) framework is proposed for enabling a predictive, efficient deployment of unmanned aerial vehicles (UAVs), acting as aerial base stations (BSs), to provide on-demand wireless service to cellular…

Autonomous flapping-wing micro-aerial vehicles (FWMAV) have a host of potential applications such as environmental monitoring, artificial pollination, and search and rescue operations. One of the challenges for achieving these applications…

Conventional optimization-based metering depends on strict adherence to precomputed schedules, which limits the flexibility required for the stochastic operations of Advanced Air Mobility (AAM). In contrast, multi-agent reinforcement…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some…

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…

The use of commercial Micro Aerial Vehicles (MAVs) has surged in the past decade, offering societal benefits but also raising risks such as airspace violations and privacy concerns. Due to the increased security risks, the development of…

Unmanned aerial vehicles (UAVs) have attracted significant interest from the academia and industry most recently. Motivated by the wide usage of UAVs, this paper considers UAV communication with reconfigurable antenna (RA) in the presence…

In this paper, a novel approach that uses an unmanned aerial vehicle (UAV)-carried intelligent reflector (IR) is proposed to enhance the performance of millimeter wave (mmW) networks. In particular, the UAV-IR is used to intelligently…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…

In next-generation vehicular environments, precise localization is crucial for facilitating advanced applications such as autonomous driving. As automation levels escalate, the demand rises for enhanced accuracy, reliability, energy…

Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks,…

The present work deals with a new passive system for real-time detection, classification and direction of arrival estimator of Unmanned Aerial Vehicles (UAVs). The proposed system composed of a very low cost hardware components, comprises…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…