相关论文: Jointly-optimized Trajectory Generation and Camera…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…

We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV's motion, and camera control inputs for the 3D…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…

In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…

The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…

This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…

Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…

Coverage path planning with unmanned aerial vehicles (UAVs) is a core task for many services and applications including search and rescue, precision agriculture, infrastructure inspection and surveillance. This work proposes an integrated…

Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…

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…

Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…

In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…

In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…

Unmanned Aerial Vehicles equipped with cameras can be used to automate image capture for generating 3D models via photogrammetry. Current methods rely on a single vehicle to capture images sequentially, or use pre-planned and heuristic…

Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…

In this paper, we study the trajectory and resource optimization for lightweight rotary-wing unmanned aerial vehicles (UAVs) equipped with a synthetic aperture radar (SAR) system. The UAV's mission is to perform SAR imaging of a given area…