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Flight tests of prototype UAV systems can be restricted by spatial constraints and they may bring risks of damage due to failures. Motivated by these, we presented a simulation approach based on Robot Operating System (ROS) and Gazebo. Unlike other state-of-the-art quadrotor simulators, we implemented the dynamics model of the UAV in ROS to achieve high fidelity behavior of the UAV. A hierarchical...
This paper presents a novel solution for a typical small-scaled quad-rotor UAV to autonomously search for and land on a pre-designed marker placed on a rooftop and to observe a digit panel on the opposite building. The UAV is equipped with a downward-facing monocular camera for landing target detection and pose estimation, as well as a front-facing camera for digit panel observation and surveillance...
In this paper, we present an monocular vision-based autonomous navigation system for a commercial quadcoptor. The quadcoptor communicates with a ground-based laptop via wireless connection. The video stream of the front camera on the drone and the navigation data measured on-board are sent to the ground station and then processed by a vision-based SLAM system. In order to handle motion blur and frame...
This paper presents a robust and efficient navigation solution for a quadrotor UAV to perform autonomous flight in a confined but partially known indoor environment. The main sensors used onboard of the UAV are two scanning laser range finders and an inertial measurement unit. When the indoor environment is structured and the coordinates of its key corner features are known, the UAV planer position...
This paper presents a navigation system that enables small-scale unmanned aerial vehicles to navigate autonomously in foliage environment without GPS using a 2D laser range finder. The navigation framework consists of real-time onboard motion estimation and trajectory smoothing using pose graph optimization, real-time dual layer control. In particular, onboard real-time motion estimation is achieved...
In this paper, we present a systematic design and implementation of a robust real-time embedded vision system for an unmanned helicopter for ground target seeking and following. The on-board software system is developed based on a multithread technology capable of coordinating multiple tasks. To realize the autonomously ground target seeking and following, a sophisticated vision algorithm is proposed...
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