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

This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…

Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…

Unmanned Aerial Vehicles (UAVs) are increasingly important in dynamic environments such as logistics transportation and disaster response. However, current tasks often rely on human operators to monitor aerial videos and make operational…

In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose…

Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…

Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…

This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…

This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…

The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…

Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people.…

Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…

This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…

Visual active tracking is a growing research topic in robotics due to its key role in applications such as human assistance, disaster recovery, and surveillance. In contrast to passive tracking, active tracking approaches combine vision and…

The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…

Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…

In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…

Modern Unmanned Aerial Vehicles equipped with state of the art artificial intelligence (AI) technologies are opening to a wide plethora of novel and interesting applications. While this field received a strong impact from the recent AI…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

We study the problem of infrastructure inspection using an Unmanned Aerial Vehicle (UAV) in box girder bridge environments. We consider a scenario where the UAV needs to fully inspect box girder bridges and localize along the bridge surface…