相关论文: Towards Perception-based Collision Avoidance for U…

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…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

Survivors stranded during floods tend to seek refuge on dry land. It is important to search for these survivors and help them reach safety as quickly as possible. The terrain in such situations however, is heavily damaged and restricts the…

The comprehension of environmental traffic situation largely ensures the driving safety of autonomous vehicles. Recently, the mission has been investigated by plenty of researches, while it is hard to be well addressed due to the limitation…

We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…

This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…

Drones or Unmanned Aerial Vehicles (UAVs) have become a reliable and efficient tool for road traffic monitoring. Compared to loop detectors and bluetooth receivers (with high capital and operational expenditure), drones are a low-cost…

Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent…

Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…

Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…

Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…

Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…

Vision-based navigation of autonomous vehicles primarily depends on the Deep Neural Network (DNN) based systems in which the controller obtains input from sensors/detectors, such as cameras and produces a vehicle control output, such as a…