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We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…

In this draft, fault diagnosis in nonlinear dynamic systems is addressed. The objective of this work is to establish a framework, in which not only model-based but also data-driven and machine learning based fault diagnosis strategies can…

An airport runway and taxiway (airside) area is a highly dynamic and complex environment featuring interactions between different types of vehicles (speed and dimension), under varying visibility and traffic conditions. Airport ground…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

Line detection is widely used in many robotic tasks such as scene recognition, 3D reconstruction, and simultaneous localization and mapping (SLAM). Compared to points, lines can provide both low-level and high-level geometrical information…

As autonomous systems increasingly rely on Deep Neural Networks (DNN) to implement the navigation pipeline functions, uncertainty estimation methods have become paramount for estimating confidence in DNN predictions. Bayesian Deep Learning…

In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…

The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…

With the number of small Unmanned Aircraft Systems (sUAS) in the national airspace projected to increase in the next few years, there is growing interest in a traffic management system capable of handling the demands of this aviation…

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…

Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…

Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…

The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…

Models for predicting aircraft motion are an important component of modern aeronautical systems. These models help aircraft plan collision avoidance maneuvers and help conduct offline performance and safety analyses. In this article, we…

This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…

Reliable and exact assessment of visibility is essential for safe air traffic. In order to overcome the drawbacks of the currently subjective reports from human observers, we present an approach to automatically derive visibility measures…

With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…

This paper addresses the challenging problem of energy-efficient and uncertainty-aware pose estimation in insect-scale drones, which is crucial for tasks such as surveillance in constricted spaces and for enabling non-intrusive spatial…