相关论文: Angle-Aware Coverage with Camera Rotational Motion…
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…
Drones as advanced cyber-physical systems are undergoing a transformative shift with the advent of vision-based learning, a field that is rapidly gaining prominence due to its profound impact on drone autonomy and functionality. Different…
Enabling cellular connectivity for drones introduces a wide set of challenges and opportunities. Communication of cellular-connected drones is influenced by 3-dimensional mobility and line-of-sight channel characteristics which results in…
Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…
Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones…
In this paper, a new concept, radial coverage strength, is first proposed to characterize the visual sensing performance when the orientation of the target pose is considered. In particular, the elevation angle of the optical pose of the…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents. The objective is to control the agents' motion to jointly optimize…
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Multi-view 3D reconstruction applications are revolutionizing critical use cases that require rapid situational-awareness, such as emergency response, tactical scenarios, and public safety. In many cases, their near-real-time latency…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Designing controllers to generate various trajectories has been studied for years, while recently, recovering an optimal controller from trajectories receives increasing attention. In this paper, we reveal that the inherent linear quadratic…
Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
It is widely accepted that integrating intelligent reflecting surfaces (IRSs) with unmanned aerial vehicles (UAV) or drones can assist wireless networks in improving network coverage and end user Quality of Service (QoS). However, the…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
The growing deployment of drones in a myriad of applications relies on seamless and reliable wireless connectivity for safe control and operation of drones. Cellular technology is a key enabler for providing essential wireless services to…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…