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Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…

Autonomous drone racing has gained attention for its potential to push the boundaries of drone navigation technologies. While much of the existing research focuses on racing in obstacle-free environments, few studies have addressed the…

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the challenges of dynamic environments. The high-speed nature of…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…

Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a simulation framework for enabling fast prototyping of…

With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…

This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

First-person view drone racing has become a popular televised sport. However, very little is known about the perceptual and motor skills of professional drone racing pilots. A better understanding of these skills may inform path planning…

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…

Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…

Drone technology is proliferating in many industries, including agriculture, logistics, defense, infrastructure, and environmental monitoring. Vision-based autonomy is one of its key enablers, particularly for real-world applications. This…

Aerial autonomous machines (Drones) has a plethora of promising applications and use cases. While the popularity of these autonomous machines continues to grow, there are many challenges, such as endurance and agility, that could hinder the…