相关论文: 3D Map Reconstruction of an Orchard using an Angle…

This article addresses collaborative 3D map reconstruction using multiple drones. Achieving high-quality reconstruction requires capturing images of keypoints within the target scene from diverse viewing angles, and coverage control offers…

This paper presents a novel control strategy for drone networks to improve the quality of 3D structures reconstructed from aerial images by drones. Unlike the existing coverage control strategies for this purpose, our proposed approach…

In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

Unmanned Aerial Vehicles equipped with cameras can be used to automate image capture for generating 3D models via photogrammetry. Current methods rely on a single vehicle to capture images sequentially, or use pre-planned and heuristic…

Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…

Human drone interaction in autonomous navigation incorporates spatial interaction tasks, including reconstructed 3D map from the drone and human desired target position. Augmented Reality (AR) devices can be powerful interactive tools for…

Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…

With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…

This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…

We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV's motion, and camera control inputs for the 3D…

3D phenotyping of plants plays a crucial role for understanding plant growth, yield prediction, and disease control. We present a pipeline capable of generating high-quality 3D reconstructions of individual agricultural plants. To acquire…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

Autonomous unmanned aerial vehicle (UAV) navigation in orchards presents significant challenges due to obstacles and GPS-deprived environments. In this work, we introduce a learning-based approach to achieve vision-based navigation of UAVs…

Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine, and entertainment. The core challenges in developing a motion-capture system that operates in…

Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target encirclement and interception strategy. Unlike traditional…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…