相关论文: Monitoring Unmanned Aircraft: Specification, Integ…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
With the advancement of deep learning methods it is imperative that autonomous systems will increasingly become intelligent with the inclusion of advanced machine learning algorithms to execute a variety of autonomous operations. One such…
Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
This paper presents a framework aimed at monitoring the behavior of aircraft in a given airspace. Nominal trajectories are determined and learned using data driven methods. Standard procedures are used by air traffic controllers (ATC) to…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can hover precisely, take-off and land vertically, fly fast forward efficiently and use computer vision to locate a person and a…
Unmanned aerial vehicles (UAVs) are becoming an integral part of both industry and society. In particular, the quadrotor is now invaluable across a plethora of fields and recent developments, such as the inclusion of aerial manipulators,…
Runtime verification is a computing analysis paradigm based on observing a system at runtime (to check its expected behaviour) by means of monitors generated from formal specifications. Distributed runtime verification is runtime…
This paper presents the design of Variable-Pitch-Propeller mechanism and its application on a quadcopter called Heliquad to demonstrate its unique capabilities. The input-output relationship is estimated for a generic mechanism. Various…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…
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…
Maritime port inspection plays a critical role in ensuring safety, regulatory compliance, and operational efficiency in complex maritime environments. However, existing inspection methods often rely on manual operations and conventional…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
This paper describes an approach to building a cost-effective and research grade visual-inertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-the-shelf visual-inertial sensor, an onboard computer, and a…
We present a general architecture for the monitoring and diagnosis of large scale sensor-based systems with real time diagnostic constraints. This architecture is multileveled, combining a single monitoring level based on statistical…
Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide…
We present a novel Explainable methodology for Condition Monitoring, relying on healthy data only. Since faults are rare events, we propose to focus on learning the probability distribution of healthy observations only, and detect Anomalies…
Electric Vertical Take-Off and Landing (eVTOL) aircraft are expected to be quieter and more cost-effective than helicopters, offering major economic and social benefits through improved connectivity. Their adoption will require new ground…