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Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture Open
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 …
Bio-inspired visual relative localization for large swarms of UAVs Open
We propose a new approach to visual perception for relative localization of\nagents within large-scale swarms of UAVs. Inspired by biological perception\nutilized by schools of sardines, swarms of bees, and other large groups of\nanimals c…
View article: Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications Open
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety o…
View article: Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments Open
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usag…
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle Open
A novel relative localization approach for guidance of a micro-scale UAV by a well-equipped aerial robot fusing VIO with LiDAR is proposed in this paper. LiDAR-based localization is accurate and robust to challenging environmental conditio…
View article: MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems Open
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with …
Distributed formation-enforcing control for UAVs robust to observation noise in relative pose measurements Open
A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The pr…
On Onboard LiDAR-based Flying Object Detection Open
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use o…
View article: UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Open
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
A Multi-MAV System for the Autonomous Elimination of Multiple Targets in the MBZIRC 2020 Competition Open
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) is a prestigious, biennial competition aimed at furthering the state of the art in the field of autonomous robotics. In this paper, we present our solution to one of the tasks…
View article: MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments Open
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configuratio…
View article: UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Open
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…