相关论文: Image-based Visual Servo Control for Aerial Manipu…

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…

In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…

Bridges are an essential part of the transportation infrastructure and need to be monitored periodically. Visual inspections by dedicated teams have been one of the primary tools in structural health monitoring (SHM) of bridge structures.…

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…

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…

Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…

Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…

In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…

In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…

Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…

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…

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…

This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…

This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…

This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…

In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…

Unmanned Aerial Vehicle (UAV) Cross-View Geo-Localization (CVGL) presents significant challenges due to the view discrepancy between oblique UAV images and overhead satellite images. Existing methods heavily rely on the supervision of…

Recent advances in cross-view geo-localization (CVGL) methods have shown strong potential for supporting unmanned aerial vehicle (UAV) navigation in GNSS-denied environments. However, existing work predominantly focuses on matching UAV…