相关论文: Aerial Manipulation with Contact-Aware Onboard Per…

Micro unmanned aerial vehicles (mUAV) became very common in recent years. As a result of their widespread usage, when they are flown by hobbyists illegally, crucial risks are imposed and such mUAVs need to be sensed by security systems.…

This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…

Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…

The ongoing amalgamation of UAV and ML techniques is creating a significant synergy and empowering UAVs with unprecedented intelligence and autonomy. This survey aims to provide a timely and comprehensive overview of ML techniques used in…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…

This paper addresses the challenge of energy-constrained maritime monitoring networks by proposing an unmanned aerial vehicle (UAV)-enabled integrated sensing, communication, powering and backhaul transmission scheme with a tailored…

We explore the use of orbital-angular-momentum (OAM)-multiplexing to increase the capacity of free-space data transmission to moving platforms, with an added potential benefit of decreasing the probability of data intercept. Specifically,…

This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended…

Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…

This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…

This paper considers an unmanned aerial vehicle enabled-up link non-orthogonal multiple-access system, where multiple mobile users on the ground send independent messages to a unmanned aerial vehicle in the sky via non-orthogonal…

Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore,…

In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…

Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community…

Unmanned aerial vehicles (UAVs) have emerged as powerful embodied agents. One of the core abilities is autonomous navigation in large-scale three-dimensional environments. Existing navigation policies, however, are typically optimized for…

In this letter, we present a novel markerless 3D human motion capture (MoCap) system for unstructured, outdoor environments that uses a team of autonomous unmanned aerial vehicles (UAVs) with on-board RGB cameras and computation. Existing…

Recently, movable antennas (MAs) have garnered immense attention due to their capability to favorably alter channel conditions through agile movement. In this letter, we delve into a spectrum sharing system enabled by unmanned aerial…

Traffic Management in Advanced Aerial Mobility (AAM) inherits many elements of conventional Air Traffic Management (ATM), but brings new complexities and challenges of its own. One of its ways of guaranteeing separation is the use of…

We investigate how to utilize predictive models for selecting appropriate motion planning strategies based on perception uncertainty estimation for agile unmanned aerial vehicle (UAV) navigation tasks. Although there are variety of motion…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…