相关论文: PANTHER: Perception-Aware Trajectory Planner in Dy…
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…
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…
This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic obstacles, and other planning agents. Real-time collision…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
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…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
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…
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…