相关论文: UPPLIED: UAV Path Planning for Inspection through …

We present a unified pipeline architecture for a real-time detection system on an embedded system for UAVs. Neural architectures have been the industry standard for computer vision. However, most existing works focus solely on concatenating…

Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…

Traditional autonomous UAV search missions rely on geometric coverage patterns that ignore the semantic context of the target, leading to significant time waste in large-scale environments. In this paper we present LMPath, a pipeline for…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming. Our approach can handle various tracking…

Unmanned aerial vehicles (UAVs) are emerging as key enablers for low-altitude wireless network (LAWN), particularly when terrestrial networks are unavailable. In such scenarios, the environmental topology is typically unknown; hence,…

Unmanned aerial vehicle (UAV) assisted communication is a revolutionary technology that has been recently presented as a potential candidate for beyond fifth-generation millimeter wave (mmWave) communications. Although mmWaves can offer a…

Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…

In this paper, we propose an autonomous UAV path planning framework using deep reinforcement learning approach. The objective is to employ a self-trained UAV as a flying mobile unit to reach spatially distributed moving or static targets in…

Unmanned Aerial vehicles (UAVs) are widely used as network processors in mobile networks, but more recently, UAVs have been used in Mobile Edge Computing as mobile servers. However, there are significant challenges to use UAVs in complex…

Reliable 3D trajectory estimation of unmanned aerial vehicles (UAVs) is a fundamental requirement for anti-UAV systems, yet the acquisition of large-scale and accurately annotated trajectory data remains prohibitively expensive. In this…

Collapsing of structural buildings has been sighted commonly and the presence of potential faults has proved to be damaging to the buildings, resulting in accidents. It is essential to continuously monitor any building for faults where…

In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods plan and safely track inspection routes to visit points of…

We propose a novel vector field based guidance scheme for tracking and surveillance of a convoy, moving along a possibly nonlinear trajectory on the ground, by an aerial agent. The scheme first computes a time varying ellipse that…

Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…

To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…

Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…