相关论文: Vision-Based Cooperative MAV-Capturing-MAV

An onboard target detection, tracking and avoidance system has been developed in this paper, for low-cost UAV flight controllers using AI-Based approaches. The aim of the proposed system is that an ally UAV can either avoid or track an…

This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…

This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…

Existing micro aerial vehicle (MAV) detection methods mainly rely on the target's appearance features in RGB images, whose diversity makes it difficult to achieve generalized MAV detection. We notice that different types of MAVs share the…

Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…

This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

In this paper, we propose a vision-based solution for indoor Micro Air Vehicle (MAV) navigation, with a primary focus on its application within autonomous warehouses. Our work centers on the utilization of a single camera as the primary…

A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…

Connected and automated vehicle (CAV) technology is one of the promising solutions to addressing the safety, mobility and sustainability issues of our current transportation systems. Specifically, the control algorithm plays an important…

To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large…

In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interference and GPS shielding may fail. This paper proposes a…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended…

Accurate and efficient recognition of Micro Air Vehicle (MAV) motion is essential for enabling real-time perception and coordination in autonomous aerial swarm. However, most existing approaches rely on large, computationally intensive…

Active Multi-Object Tracking (AMOT) is a task where cameras are controlled by a centralized system to adjust their poses automatically and collaboratively so as to maximize the coverage of targets in their shared visual field. In AMOT, each…