This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A Simultaneous Localization and Mapping (SLAM) algorithm ...

his paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. An elaborate Simultaneous Localization and Mapping (SLAM) ...

n this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor ...

The continuous improvement in the function and performance of Unmanned Aerial Systems (UASs) promotes the need for specific research to integrate this leading edge technology in to various applications across ...

A randomized motion-planning approach to providing guidance for helicopters with under-slung loads is presented. Rapidly-exploring Random Trees are adapted to plan trajectories for simplified helicopter-load models. Four ...

This paper develops a monocular vision-aided inertial navigation system based on the factored extended Kalman filter (EKF) proposed by Bierman and Thornton. The simultaneous localization and mapping (SLAM) algorithm ...

The presented work introduces a graph based approach to model urban (or otherwise cluttered) environments for UAS utilization beyond line-of-sight as well as out of direct R/F range of the operator's control station. ...

In this paper we study the problem of controlling a group of Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant ...

This paper develops a vision-based algorithm to detect a visual marker in real time and in the presence of excessive colored noise for Unmanned Aerial Vehicles. After using various image analysis techniques, including ...