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In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

his paper presents a simple approach for drone navigation to follow a predetermined path using visual input only without reliance on a Global Positioning System (GPS). A Convolutional Neural Network (CNN) is used to output the steering…

Over the last few years, the many uses of Unmanned Aerial Vehicles (UAVs) have captured the interest of both the scientific and the industrial communities. A typical scenario consists in the use of UAVs for surveillance or target-search…

We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…

Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while…

Vision-based drone-to-drone detection has attracted increasing attention due to its importance in numerous tasks such as vision-based swarming, aerial see-and-avoid, and malicious drone detection. However, existing methods often encounter…

For precise, efficient, and safe drone landings, ground platforms should real-time, accurately locate descending drones and guide them to designated spots. While mmWave sensing combined with cameras improves localization accuracy, lower…

Drones operating in complex environments face a significant threat from thin obstacles, such as steel wires and kite strings at the submillimeter level, which are notoriously difficult for conventional sensors like RGB cameras, LiDAR, and…

Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts the critical sensing needed for ego-velocity estimation and…

Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs…

Unmanned Aerial Vehicles (drones) are emerging as a promising technology for both environmental and infrastructure monitoring, with broad use in a plethora of applications. Many such applications require the use of computer vision…

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…

Drone-based crowd monitoring is the key technology for applications in surveillance, public safety, and event management. However, maintaining tracking continuity and consistency remains a significant challenge. Traditional…

This paper proposes a space-time multi-scale attention network (STANet) to solve density map estimation, localization and tracking in dense crowds of video clips captured by drones with arbitrary crowd density, perspective, and flight…

Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…

The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

We introduce a measurement tool for the performance evaluation of wireless communications with drones over cellular networks. The Android software records various LTE parameters, evaluates the TCP and UDP throughput, and tracks the GPS…

The use of small and remotely controlled unmanned aerial vehicles (UAVs), or drones, has increased in recent years. This goes in parallel with misuse episodes, with an evident threat to the safety of people or facilities. As a result, the…

Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…