相关论文: Robust Active Visual Perching with Quadrotors on I…

This paper considers the problem of searching for a point of interest (POI) moving along an urban road network with an uncrewed aerial vehicle (UAV). The UAV is modeled as a variable-speed Dubins vehicle with a line-of-sight sensor in an…

This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…

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…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…

This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…

We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…

The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…

Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the performance and robustness of the complete cyber-physical…

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…

Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…

Autonomous tracking of suspicious unmanned aerial vehicles (UAVs) by legitimate monitoring UAVs (or monitors) can be crucial to public safety and security. It is non-trivial to optimize the trajectory of a monitor while conceiving its…

In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interference and GPS shielding may fail. This paper proposes a…

Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…