相关论文: Autonomous Rendezvous with Non-cooperative Target …
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the…
In post-disaster space-air-ground integrated networks (SAGINs), terrestrial infrastructure is often impaired, and unmanned aerial vehicles (UAVs) must rapidly restore connectivity for mission-critical ground terminals in cluttered…
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…
Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…
We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…
Current maritime communications mainly rely on satellites having meager transmission resources, hence suffering from poorer performance than modern terrestrial wireless networks. With the growth of transcontinental air traffic, the…
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…
Virtual Super-resolution Optics with Reconfigurable Swarms (VISORS) is a distributed telescope mission for high-resolution imaging of the Sun using two 6U CubeSats flying in formation in a Sun-synchronous low-Earth orbit. An optics…
Space debris poses a significant threat, driving research into active and passive mitigation strategies. This work presents an innovative collision avoidance system utilizing event-based cameras - a novel imaging technology well-suited for…
Autonomous mission planning for Active Debris Removal (ADR) must balance efficiency, adaptability, and strict feasibility constraints on fuel and mission duration. This work compares three planners for the constrained multi-debris…
Smart Micro Aerial Vehicles (MAVs) have transformed infrastructure inspection by enabling efficient, high-resolution monitoring at various stages of construction, including hard-to-reach areas. Traditional manual operation of drones in…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
Detecting Resident Space Objects (RSOs) and preventing collisions with other satellites is crucial. Recently, deep convolutional neural networks (DCNNs) have shown superior performance in object detection when large-scale datasets are…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…