相关论文: Autonomous Flights in Dynamic Environments with On…
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…
Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of other quadrotors using an on-board camera. We show that using…
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…
This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…
Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…
We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…
We present our latest research in learning deep sensorimotor policies for agile, vision-based quadrotor flight. We show methodologies for the successful transfer of such policies from simulation to the real world. In addition, we discuss…