相关论文: Data-driven robust UAV position estimation in GPS …

In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…

We consider the problem of routing a team of energy-constrained Unmanned Aerial Vehicles (UAVs) to drop unmovable sensors for monitoring a task area in the presence of stochastic wind disturbances. In prior work on mobile sensor routing…

Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…

Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…

Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…

With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…

Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…

Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…

In recent years, unmanned aerial vehicles (UAVs) have been considered for telecommunications purposes as relays, caches, or IoT data collectors. In addition to being easy to deploy, their maneuverability allows them to adjust their location…

Aerial Vehicles follow a guided approach based on Latitude, Longitude and Altitude. This information can be used for calculating the status of maneuvering for the aerial vehicles along the line of trajectory. This is a binary classification…

Controlling UAV flights precisely requires a realistic dynamic model and accurate state estimates from onboard sensors like UAV, GPS and visual observations. Obtaining a precise dynamic model is extremely difficult, as important aerodynamic…

This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…

This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU…

High data rate communication with Unmanned Aerial Vehicles (UAV) is of growing demand among industrial and commercial applications since the last decade. In this paper, we investigate enhancing beam forming performance based on signal…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

In this work we demonstrate the possibility of estimating the wind environment of a UAV without specialised sensors, using only the UAV's trajectory, applying a causal machine learning approach. We implement the causal curiosity method…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…