相关论文: HUNT: High-Speed UAV Navigation and Tracking in Un…
Absolute localization, aiming to determine an agent's location with respect to a global reference, is crucial for unmanned aerial vehicles (UAVs) in various applications, but it becomes challenging when global navigation satellite system…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
Aerial navigation is a fundamental yet underexplored capability in embodied intelligence, enabling agents to operate in large-scale, unstructured environments where traditional navigation paradigms fall short. However, most existing…
Visual object tracking (VOT) plays a pivotal role in unmanned aerial vehicle (UAV) applications. Addressing the trade-off between accuracy and efficiency, especially under challenging conditions like unpredictable occlusion, remains a…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Underwater object tracking is challenging due to wavelength dependent attenuation and scattering, which severely distort appearance across depths and water conditions. Existing trackers trained on terrestrial data fail to generalize to…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
This paper presents a novel Rapidly-exploring Adaptive Sampling Tree (RAST) algorithm for the adaptive sampling mission of a hybrid aerial underwater vehicle (HAUV) in an air-sea 3D environment. This algorithm innovatively combines the…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
Unmanned Aerial Vehicle (UAV) Vision-and-Language Navigation (VLN) is vital for applications such as disaster response, logistics delivery, and urban inspection. However, existing methods often struggle with insufficient multimodal fusion,…
Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…
Unmanned Aerial Vehicles (UAVs) are one of the most revolutionary inventions of 21st century. At the core of a UAV lies the central processing system that uses wireless signals to control their movement. The most popular UAVs are…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource…
Multiple object tracking (MOT) has been successfully investigated in computer vision. However, MOT for the videos captured by unmanned aerial vehicles (UAV) is still challenging due to small object size, blurred object appearance, and very…
A critical challenge in deploying unmanned aerial vehicles (UAVs) for autonomous tasks is their ability to navigate in an unknown environment. This paper introduces a novel vision-depth fusion approach for autonomous navigation on…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…