相关论文: Online parameter estimation for the Crazyflie quad…
Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…
Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones.…
We consider a combined system of regular delivery trucks and crowdsourced drones, available via a sharing economy platform, to provide a technology-assisted crowd-based last-mile delivery experience. We develop analytical models and methods…
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…
Autonomous nano-drones, powered by vision-based tiny machine learning (TinyML) models, are a novel technology gaining momentum thanks to their broad applicability and pushing scientific advancement on resource-limited embedded systems.…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
We propose an approach for mapping natural language instructions and raw observations to continuous control of a quadcopter drone. Our model predicts interpretable position-visitation distributions indicating where the agent should go…
We introduce a novel algorithm for online estimation of acoustic impulse responses (AIRs) which allows for fast convergence by exploiting prior knowledge about the fundamental structure of AIRs. The proposed method assumes that the…
Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
This paper presents a novel autonomous drone-based smoke plume tracking system capable of navigating and tracking plumes in highly unsteady atmospheric conditions. The system integrates advanced hardware and software and a comprehensive…
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…
In-flight objects capture is extremely challenging. The robot is required to complete trajectory prediction, interception position calculation and motion planning in sequence within tens of milliseconds. As in-flight uneven objects are…
The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian…
Many drone-related applications (e.g., drone-aided video capture, drone traffic and safety management) require group communications between drones to efficiently disseminate data or reliably deliver critical information, making use of the…
Rapid post-disaster road damage assessment is critical for effective emergency response, yet traditional optimization methods suffer from excessive computational time and require domain knowledge for algorithm design, making them unsuitable…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
Online joint estimation of unknown parameters and states in a dynamical system with uncertainty quantification is crucial in many applications. For example, digital twins dynamically update their knowledge of model parameters and states to…