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Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must be taken on the spot, before moving to…

We propose an approach for mapping natural language instructions and raw observations to continuous control of a quadcopter drone. Our model predicts interpretable position-visitation distributions indicating where the agent should go…

An ever increasing number of applications can employ aerial unmanned vehicles, or so-called drones, to perform different sensing and possibly also actuation tasks from the air. In some cases, the data that is captured at a given point has…

This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…

In this paper, we consider the problem where a drone has to collect semantic information to classify multiple moving targets. In particular, we address the challenge of computing control inputs that move the drone to informative viewpoints,…

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;…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

With the rapid development of drone technology, the application of multi-drones is becoming increasingly widespread in various fields. However, the task planning technology for multi-drones still faces challenges such as the complexity of…

We consider a network of smart sensors for an edge computing application that sample a time-varying signal and send updates to a base station for remote global monitoring. Sensors are equipped with sensing and compute, and can either send…

Autonomous drones must often respond to sudden events, such as alarms, faults, or unexpected changes in their environment, that require immediate and adaptive decision-making. Traditional approaches rely on safety engineers hand-coding…

Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…

It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…

In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…

Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…

Deep learning often requires the manual collection and annotation of a training set. On robotic platforms, can we partially automate this task by training the robot to be curious, i.e., to seek out beneficial training information in the…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Aerial filming is constantly gaining importance due to the recent advances in drone technology. It invites many intriguing, unsolved problems at the intersection of aesthetical and scientific challenges. In this work, we propose a deep…

Drones are driving numerous and evolving use cases, and creating transformative socio-economic benefits. Drone operation needs wireless connectivity for communication between drones and ground control systems, among drones, and between…

Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…

Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decision-making. Success in this domain requires drones not only to navigate at their limits but also to anticipate and counteract…