相关论文: LiDAR-based Quadrotor for Slope Inspection in Dens…
Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…
Regular inspections are crucial to maintaining waste-water pipelines in good condition. The challenge is that inside a pipeline the space is narrow and may have a complex structure. The conventional methods that use pipe robots with heavy…
Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide. Waste discarded in public spaces often accumulates in areas that are difficult to access, such as uneven terrains, coastal…
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…
Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…
Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapping, on condition that enough environment features are…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…
This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…
Applications of unmanned aerial vehicle (UAV) in logistics, agricultural automation, urban management, and emergency response are highly dependent on oriented object detection (OOD) to enhance visual perception. Although existing datasets…
Unmanned Aerial Vehicles (UAVs) are suited as cost-effective and adaptable platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs). Implementing aerial networks in disaster management scenarios and crowded areas…
The use of unmanned aerial vehicles (UAVs) for different applications has increased many folds in recent years. The UAVs are expected to change the future air operations. However, there are instances where the UAVs can be used for malicious…
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, energy efficiency remains a critical constraint: quadrotors…
This paper addresses the problem of crack detection which is essential for health monitoring of built infrastructure. Our approach includes two stages, data collection using unmanned aerial vehicles (UAVs) and crack detection using…