5 accepted papers
This letter presents a method for the precise cable-guided landing of tethered drones. The proposed approach is based on a continuous velocity vector field that relies on the tether variables only. We assume that the vehicle is attached to a landing platform through a tensioned and free-of-collision
Fast autonomous motion in cluttered and unknown environments, such as forests, is highly dependent on low-latency obstacle avoidance strategies. In this context, this paper presents a motion planning strategy that relies on lattices for the fast computation of local paths that both avoid obstacles a…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good fit. The resulting detection and tracking method is lightweigh
This paper presents a tangle-free frontier based exploration algorithm for planar mobile robots equipped with limited length and anchored tethers. After planning a path to the closest point in the frontier between free and unknown space, the robot computes an estimate of the future length of its tet…
This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on a velocity vector field, which is a closed-loop strategy that guides the vehicle towards the landing point and simultaneously enforces the shape of its trajectory. R