相关论文: Autonomous Flights in Dynamic Environments with On…
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…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras…
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…
QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
We present a method for learning to drive on smooth terrain while simultaneously avoiding collisions in challenging off-road and unstructured outdoor environments using only visual inputs. Our approach applies a hybrid model-based and…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…
In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases…