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This work proposes a low-power high-accuracy embedded hand-gesture recognition algorithm targeting battery-operated wearable devices using low power short-range RADAR sensors. A 2D Convolutional Neural Network (CNN) using range frequency…

This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…

This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…

The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…

Robust and accurate detection of small moving targets in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform search and tracking tasks. Inspired by the neural circuitry of elementary…

In this paper, we present a control system that allows a drone to fly autonomously through a series of gates marked with ArUco tags. A simple and low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided by the…

Deep learning-based algorithms can provide state-of-the-art accuracy for remote sensing technologies such as unmanned aerial vehicles (UAVs)/drones, potentially enhancing their remote sensing capabilities for many emergency response and…

Convolutional Neural Networks (CNNs) have proven highly effective for edge and mobile vision tasks due to their computational efficiency. While many recent works seek to enhance CNNs with global contextual understanding via…

We present an intuitive human-drone interaction system that utilizes a gesture-based motion controller to enhance the drone operation experience in real and simulated environments. The handheld motion controller enables natural control of…

Control of complex systems involves both system identification and controller design. Deep neural networks have proven to be successful in many identification tasks, however, from model-based control perspective, these networks are…

Insect flight is a strongly nonlinear and actuated dynamical system. As such, strategies for understanding its control have typically relied on either model-based methods or linearizations thereof. Here we develop a framework that combines…

Convolutional neural networks (CNNs) are remarkably successful in many computer vision tasks. However, the high cost of inference is problematic for embedded and real-time systems, so there are many studies on compressing the networks. On…

We propose a novel human-swarm interaction system, allowing the user to directly control a swarm of drones in a complex environment through trajectory drawing with a hand gesture interface based on the DNN-based gesture recognition. The…

Designing efficient neural networks for embedded devices is a critical challenge, particularly in applications requiring real-time performance, such as aerial imaging with drones and UAVs for emergency responses. In this work, we introduce…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…

Robotic perception models, such as Deep Neural Networks (DNNs), are becoming more computationally intensive and there are several models being trained with accuracy and latency trade-offs. However, modern latency accuracy trade-offs largely…

Event-based vision has already revolutionized the perception task for robots by promising faster response, lower energy consumption, and lower bandwidth without introducing motion blur. In this work, a novel deep learning method based on…

Convolutional neural networks (CNNs) are used in many embedded applications, from industrial robotics and automation systems to biometric identification on mobile devices. State-of-the-art classification is typically achieved by large…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

The growing deployment of drones in a myriad of applications relies on seamless and reliable wireless connectivity for safe control and operation of drones. Cellular technology is a key enabler for providing essential wireless services to…