相关论文: Distance-based Multiple Non-cooperative Ground Tar…
Persistent target tracking in urban environments using UAV is a difficult task due to the limited field of view, visibility obstruction from obstacles and uncertain target motion. The vehicle needs to plan intelligently in 3D such that the…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Accurate motion state estimation of Vulnerable Road Users (VRUs), is a critical requirement for autonomous vehicles that navigate in urban environments. Due to their computational efficiency, many traditional autonomy systems perform…
One of the challenges faced by Autonomous Aerial Vehicles is reliable navigation through urban environments. Factors like reduction in precision of Global Positioning System (GPS), narrow spaces and dynamically moving obstacles make the…
In this paper the tracking problem of multi-agent systems, in a particular scenario where a segment of agents entering a sensing-denied environment or behaving as non-cooperative targets, is considered. The focus is on determining the…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
Traffic forecasting is a fundamental task in transportation research, however the scope of current research has mainly focused on a single data modality of loop detectors. Recently, the advances in Artificial Intelligence and drone…
The accurate estimation of locations and emission rates of gas sources is crucial across various domains, including environmental monitoring and greenhouse gas emission analysis. This study investigates two drone sampling strategies for…
Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
Nano-size drones hold enormous potential to explore unknown and complex environments. Their small size makes them agile and safe for operation close to humans and allows them to navigate through narrow spaces. However, their tiny size and…
Autonomous missions of drones require continuous and reliable estimates for the drone's attitude, velocity, and position. Traditionally, these states are estimated by applying Extended Kalman Filter (EKF) to Accelerometer, Gyroscope,…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
This paper investigates the multi-UAV multi-task coordination problem in infrastructure-less emergency scenarios, where UAVs collaboratively are required to jointly perform aerial image acquisition and ground-user communication. To tackle…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…