相关论文: A Precision Drone Landing System using Visual and …

Motion capture through tracking retroreflectors obtains highly accurate pose estimation, which is frequently used in robotics. Unlike commercial motion capture systems, fiducial marker-based tracking methods, such as AprilTags, can perform…

This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or…

In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…

In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…

This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…

This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…

Novice pilots find it difficult to operate and land unmanned aerial vehicles (UAVs), due to the complex UAV dynamics, challenges in depth perception, lack of expertise with the control interface and additional disturbances from the ground…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

Identifying drones and birds correctly is essential for keeping the skies safe and improving security systems. Using the VIP CUP 2025 dataset, which provides both RGB and infrared (IR) images, this study presents EGD-YOLOv8n, a new…

The visual inspection of aerial drone footage is an integral part of land search and rescue (SAR) operations today. Since this inspection is a slow, tedious and error-prone job for humans, we propose a novel deep learning algorithm to…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

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…

Drone light shows have emerged as a popular form of entertainment in recent years. However, several high-profile incidents involving large-scale drone failures -- where multiple drones simultaneously fall from the sky -- have raised safety…

Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…