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In recent years, drone delivery, which utilizes unmanned aerial vehicles (UAVs) for package delivery and pickup, has gradually emerged as a crucial method in logistics. Since delivery drones are expensive and may carry valuable packages,…

A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…

Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…

Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…

Air travel is one of the fastest growing modes of transportation, however, the effects of aircraft noise on populations surrounding airports is hindering its growth. In an effort to study and ultimately mitigate the impact that this noise…

Modern machine learning techniques have shown tremendous potential, especially for object detection on camera images. For this reason, they are also used to enable safety-critical automated processes such as autonomous drone flights. We…

Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…

This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…

In recent years, the illicit use of unmanned aerial vehicles (UAVs) for deliveries in restricted area such as prisons became a significant security challenge. While numerous studies have focused on UAV detection or localization, little…

In this paper, a multistatic Doppler sensing system is proposed for the drone tracking via downlink Long-Term Evolution (LTE) signals. Specifically, the LTE base stations (BSs) are exploited as signal illuminators, and three passive sensing…

In this study, we propose an innovative method for the real-time detection of GPS spoofing attacks targeting drones, based on the video stream captured by a drone's camera. The proposed method collects frames from the video stream and their…

A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…

Object detection using images or videos captured by drones is a promising technology with significant potential across various industries. However, a major challenge is that drone images are typically taken from high altitudes, making…

This paper reports a visible and thermal drone monitoring system that integrates deep-learning-based detection and tracking modules. The biggest challenge in adopting deep learning methods for drone detection is the paucity of training…

We introduce a benchmark for system identification based on 75k real-world samples from the Crazyflie 2.1 Brushless nano-quadrotor, a sub-50g aerial vehicle widely adopted in robotics research. The platform presents a challenging testbed…

In autonomous and mobile robotics, one of the main challenges is the robust on-the-fly perception of the environment, which is often unknown and dynamic, like in autonomous drone racing. In this work, we propose a novel deep neural…

Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…

In this work, we present and evaluate a method to perform real-time multiple drone detection and three-dimensional localization using state-of-the-art tiny-YOLOv4 object detection algorithm and stereo triangulation. Our computer vision…

UAVs, commonly referred to as drones, have witnessed a remarkable surge in popularity due to their versatile applications. These cyber-physical systems depend on multiple sensor inputs, such as cameras, GPS receivers, accelerometers, and…

Several datasets exist which contain annotated information of individuals' trajectories. Such datasets are vital for many real-world applications, including trajectory prediction and autonomous navigation. One prominent dataset currently in…