相关论文: UPPLIED: UAV Path Planning for Inspection through …
This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
The performance optimization of UAV communication systems requires the joint design of UAV trajectory and communication efficiently. To tackle the challenge of infinite design variables arising from the continuous-time UAV trajectory…
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…
In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine…
In this paper, we propose an algorithm for the formation of multiple UAVs used in vision-based inspection of infrastructure. A path planning algorithm is first developed by using a variant of the particle swarm optimisation, named…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
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…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
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…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…