Related papers: An Autonomous Reference Frame for Relativistic GNS…
Self-awareness is the key capability of autonomous systems, e.g., autonomous driving network, which relies on highly efficient time series forecasting algorithm to enable the system to reason about the future state of the environment, as…
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone,…
A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…
This paper presents a system-level engineering approach for the preliminary coverage performance analysis and the design of a generic Global Navigation Satellite System (GNSS) constellation. This analysis accounts for both the coverage…
Satellite-based quantum communication is an invaluable resource for the realization of a quantum network at the global scale. In this regard, the use of satellites well beyond the low Earth orbits gives the advantage of long communication…
This article proposes a generative neural network architecture for spatially consistent air-to-ground channel modeling. The approach considers the trajectories of uncrewed aerial vehicles along typical urban paths, capturing spatial…
We propose a formal definition of a general reference frame in a general spacetime, as an equivalence class of charts. This formal definition corresponds with the notion of a reference frame as being a (fictitious) deformable body, but we…
AIMS: An alternative to the traditional method for modeling kinematics of the Earth's rotation is proposed. The purpose of developing the new approach is to provide a self-consistent and simple description of the Earth's rotation in a way…
A {\em relativistic positioning system} consists in a set of four clocks broadcasting their respective proper time by means of light signals. Among them, the more important ones are the {\em auto-located positioning systems,} in which every…
We investigate a relativistic positioning system where the coordinates of the users are determined by the proper times broadcasted by clocks in motion in spacetime: these are the so-called emission coordinates. In particular, we focus on…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
In this Note, a new approach to spacecraft positioning based on GGT inversion is presented. The gravity gradient tensor is initially measured in the gradiometer reference frame (GRF) and then transformed to the Earth-Centered Earth-Fixed…
A crucial step in the history of General Relativity was Einstein's adoption of the principle of general covariance which demands a coordinate independent formulation for our spacetime theories. General covariance helps us to disentangle a…
In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…
The climate crisis we are facing calls for significant improvements in our understanding of natural phenomena, with clouds being identified as a dominant source of uncertainty. To this end, the emerging field of 3D computed cloud tomography…
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…
The increasing number of space missions may overwhelm ground support infrastructure, prompting the need for autonomous deep-space guidance, navigation, and control (GN\&C) systems. These systems offer sustainable and cost-effective…
We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
A reference frame on a set $M$ is given by a 3-dimensional euclidean space $E$, a function from $M$ to $E$, a 1-dimensional affine space $A$ and a function from $M$ to $A$. The definition allows an intuitive and coordinate-free formulation…