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FIMD: fast isolated marker detection for UV-based visual relative localisation in agile UAV swarms Open
A novel approach for the fast onboard detection of isolated markers for visual relative localisation of multiple teammates in agile UAV swarms is introduced in this paper. As the detection forms a key component of real-time localisation sy…
View article: CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments Open
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…
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 …
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: Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles
Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles Open
This letter describes a method for autonomous aerial cinematography with\ndistributed lighting by a team of unmanned aerial vehicles (UAVs). Although\ncamera-carrying multi-rotor helicopters have become commonplace in\ncinematography, thei…
Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle Open
This paper presents a novel approach to autonomous extinguishing of indoor fires inside a building by a Micro-scale Unmanned Aerial Vehicle (MAV). In particular, controlling and estimating the MAV state, detection of a building entrance, m…
View article: Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition
Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition Open
This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The wal…
IoT in buildings and optimization of energy consumption Open
The Internet of Things (IoT) is a discussed issue nowadays. In our environment, we commonly encounter things connected via the Internet. These are a very wide range of things with different purposes. A specific area of IoT is buildings. Th…
Sustainability and transport construction companies Open
Governments and societies throughout the world are increasingly calling on business to be environmentally and socially responsible and many businesses appear to be responding to this call. This inclusion of environmental and social sustain…
Vision techniques for on‐board detection, following, and mapping of moving targets Open
This study presents computer vision modules of a multi‐unmanned aerial vehicle (UAV) system, which scored gold, silver, and bronze medals at the Mohamed Bin Zayed International Robotics Challenge 2017. This autonomous system, which was run…