相关论文: Autonomous Drone for Dynamic Smoke Plume Tracking

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

Autonomous indoor navigation of UAVs presents numerous challenges, primarily due to the limited precision of GPS in enclosed environments. Additionally, UAVs' limited capacity to carry heavy or power-intensive sensors, such as overheight…

The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…

Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…

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…

Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…

Wildfire monitoring demands autonomous systems capable of reasoning under extreme visual degradation, rapidly evolving physical dynamics, and scarce real-world training data. Existing UAV navigation approaches rely on simplified simulators…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world effects, while data-driven models are data-intensive and…

Mastering autonomous drone landing on dynamic platforms presents formidable challenges due to unpredictable velocities and external disturbances caused by the wind, ground effect, turbines or propellers of the docking platform. This study…

Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) capable of achieving trajectory tracking for nonlinear…

This note presents an analytical framework for decision-making in drone swarm systems operating under uncertainty, based on the integration of Partially Observable Markov Decision Processes (POMDP) with Deep Deterministic Policy Gradient…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

This paper reports a visible and thermal drone monitoring system that integrates deep-learning-based detection and tracking modules. The biggest challenge in adopting deep learning methods for drone detection is the paucity of training…

Suitably equipped with cameras and sensors, uncrewed aerial vehicles (UAVs) can be instrumental for wildfire prediction, tracking, and monitoring, provided that uninterrupted connectivity can be guaranteed even if some of the ground access…

Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…