相关论文: Falsification of a Vision-based Automatic Landing …

In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (UAVs) will maintain safe distances from each other at all…

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…

This paper presents the design of an artificial vision system prototype for automatic inspection and monitoring of objects over a conveyor belt and using a Smart camera 2D BOA-INS. The prototype consists of a conveyor belt and an embedded…

Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an…

This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7…

Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…

Autonomous vehicles (AVs) rely heavily on LiDAR sensors for accurate 3D perception. We show a novel class of low-cost, passive LiDAR spoofing attacks that exploit mirror-like surfaces to inject or remove objects from an AV's perception.…

By collecting the data of eyeball movement of pilots, it is possible to monitor pilot's operation in the future flight in order to detect potential accidents. In this paper, we designed a novel SVS system that is integrated with an eye…

This paper presents a novel automatic calibration system to estimate the extrinsic parameters of LiDAR mounted on a mobile platform for sensor misalignment inspection in the large-scale production of highly automated vehicles. To obtain…

This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…

Safety validation is a crucial component in the development and deployment of autonomous systems, such as self-driving vehicles and robotic systems. Ensuring safe operation necessitates extensive testing and verification of control…

Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…

As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…

Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…

Safe autonomous landing in urban cities is a necessity for the growing Unmanned Aircraft Systems (UAS) industry. In urgent situations, building rooftops, particularly flat rooftops, can provide local safe landing zones for small UAS. This…

Hyperspectral cameras have recently been miniaturized for operation on lightweight airborne platforms such as UAV or small aircraft. Unlike frame cameras (RGB or Multispectral), many hyperspectral sensors use a linear array or 'push-broom'…

In many cyber-physical systems, especially in critical applications such as aeroplanes, data to train anomaly detection and diagnosis algorithms is lacking due to data protection issues and partial observability. To combat this inherent…

Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…

A collision avoidance system based on simple digital cameras would help enable the safe integration of small UAVs into crowded, low-altitude environments. In this work, we present an obstacle avoidance system for small UAVs that uses a…

The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…