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The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…
Video surveillance using drones is both convenient and efficient due to the ease of deployment and unobstructed movement of drones in many scenarios. An interesting application of drone-based video surveillance is to estimate crowd…
This paper presents the Visual Optical Recognition Telemetry EXtraction (VORTEX) system for extracting and analyzing drone telemetry data from First Person View (FPV) Uncrewed Aerial System (UAS) footage. VORTEX employs MMOCR, a…
The Synthetic Corona Outflow Model (SynCOM), an empirical model, simulates the solar corona's dynamics to match high-resolution observations, providing a useful resource for testing velocity measurement algorithms. SynCOM generates…
State-of-the-art methods for counting people in crowded scenes rely on deep networks to estimate crowd density in the image plane. While useful for this purpose, this image-plane density has no immediate physical meaning because it is…
As airborne vehicles are becoming more autonomous and ubiquitous, it has become vital to develop the capability to detect the objects in their surroundings. This paper attempts to address the problem of drones detection from other flying…
There has been a rapid growth in the deployment of Unmanned Aerial Vehicles (UAVs) in various applications ranging from vital safety-of-life such as surveillance and reconnaissance at nuclear power plants to entertainment and hobby…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
To overcome the short flight duration of drones, research on in-flight inductive power transfer has been recognized as an essential solution. Thus, it is important to accurately estimate and control the attitude of the drones which operate…
Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…
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…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Event cameras capture visual information with a high temporal resolution and a wide dynamic range. This enables capturing visual information at fine time granularities (e.g., microseconds) in rapidly changing environments. This makes event…
Reliable drone detection is challenging due to limited annotated real-world data, large appearance variability, and the presence of visually similar distractors such as birds. To address these challenges, this paper introduces SimD3, a…
Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must be taken on the spot, before moving to…
Drones are becoming more and more popular nowadays. They are small in size, low in cost, and reliable in operation. They contain a variety of sensors and can perform a variety of flight tasks, reaching places that are difficult or…
Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…
Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…
Deep learning-based algorithms can provide state-of-the-art accuracy for remote sensing technologies such as unmanned aerial vehicles (UAVs)/drones, potentially enhancing their remote sensing capabilities for many emergency response and…