相关论文: 3D Self-Localization of Drones using a Single Mill…
Autonomous drone racing requires the tight coupling of perception, planning, and control under extreme agility. However, recent approaches typically rely on precomputed spatial reference trajectories or explicit 6-DoF gate pose estimation,…
Reliable millimeter-wave (mmWave) communication in non-line-of-sight (NLoS) conditions remains a major challenge for both military and civilian operations, especially in urban or infrastructure-limited environments. This paper presents a…
Now a days, UAVs such as drones are greatly used for various purposes like that of capturing and target detection from ariel imagery etc. Easy access of these small ariel vehicles to public can cause serious security threats. For instance,…
Autonomous indoor navigation of UAVs presents numerous challenges, primarily due to the limited precision of GPS in enclosed environments. Additionally, UAVs' limited capacity to carry heavy or power-intensive sensors, such as overheight…
The key motivation for the low-frequency magnetic localization approach is that magnetic near-fields are well predictable by a free-space model, which should enable accurate localization. Yet, limited accuracy has been reported for…
Commercial drones are not yet dimensioned to perform indoor autonomous tasks, since they use GPS for their location in the environment. When it comes to a space with physical obstacles (walls, metal, etc.) between the communication of the…
Millimeter wave (mmWave) multiple-input multiple-output (MIMO) systems capable of integrated sensing and communication (ISAC) constitute a key technology for connected autonomous vehicles (CAVs). In this context, we propose a multi-beam…
Monocular RGB cameras mounted on drones are widely used for wildlife monitoring, yet most analytical pipelines remain confined to two-dimensional image space, leaving geometric information in video underexploited. We present WildLIFT, a…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
An autonomous drone flying near obstacles needs to be able to detect and avoid the obstacles or it will collide with them. In prior work, drones can detect and avoid walls using data from camera, ultrasonic or laser sensors mounted either…
Millimeter wave (mmWave) technology is expected to be a major component of 5G wireless networks. Ultra-wide bandwidths of mmWave signals and the possibility of utilizing large number of antennas at the transmitter and the receiver allow…
Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…
The anticipated densification of contemporary communications infrastructure expects the use of drone small cells (DSCs). Thus, we experimentally evaluate the capability of providing local and personalized coverage with a drone mounted Wi-Fi…
We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable inference of a deep-RL policy onboard a nano quadcopter. Our…
Accessing sub-wavelength information about a scene from the far-field without invasive near-field manipulations is a fundamental challenge in wave engineering. Yet it is well understood that the dwell time of waves in complex media sets the…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…
In the realm of fully autonomous drones, the accurate detection of obstacles is paramount to ensure safe navigation and prevent collisions. Among these challenges, the detection of wires stands out due to their slender profile, which poses…
Passive 3D sensing is increasingly critical for early detection and tracking of small aerial vehicles (UAVs), where traditional active ranging can be tactically undesirable. We present SCHeimpflug for Optical Ranging TechnologY (SCHORTY), a…