相关论文: A vision-based autonomous UAV inspection framework…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
-Navigation through narrow and irregular gaps is an essential skill in autonomous drones for applications such as inspection, search-and-rescue, and disaster response. However, traditional planning and control methods rely on explicit gap…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…
Visual inspection is the predominant technique for evaluating the condition of civil infrastructure. The recent advances in unmanned aerial vehicles (UAVs) and artificial intelligence have made the visual inspections faster, safer, and more…
This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were developed for the task: (i) a brick-carrier…
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicles provide a flexible sensing platform, yet reliable…
Structural columns are the crucial load-carrying components of buildings and bridges. Early detection of column damage is important for the assessment of the residual performance and the prevention of system-level collapse. This research…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
We study the problem of infrastructure inspection using an Unmanned Aerial Vehicle (UAV) in box girder bridge environments. We consider a scenario where the UAV needs to fully inspect box girder bridges and localize along the bridge surface…
Unmanned Aerial Vehicles (UAVs), equipped with cameras, are employed in numerous applications, including aerial photography, surveillance, and agriculture. In these applications, robust object detection and tracking are essential for the…
This paper focuses on the continuous control of the unmanned aerial vehicle (UAV) based on a deep reinforcement learning method for a large-scale 3D complex environment. The purpose is to make the UAV reach any target point from a certain…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…