Related papers: Landmark Placement for Localization in a GPS-denie…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…
Many localization algorithms and systems have been developed by means of wireless sensor networks for both indoor and outdoor environments. To achieve higher localization accuracy, extra hardware equipments are utilized by most of the…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
A promising approach to accurate positioning of robots is ground texture based localization. It is based on the observation that visual features of ground images enable fingerprint-like place recognition. We tackle the issue of efficient…
Integrated sensing and communication enables simultaneous communication and sensing tasks, including precise radio positioning and mapping, essential for future 6G networks. Current methods typically model environmental landmarks as…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
This paper studies the optimal unmanned aerial vehicle (UAV) placement problem for wireless networking. The UAV operates as a flying wireless relay to provide coverage extension for a base station (BS) and deliver capacity boost to a user…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
this is a review paper. this describes how DGPS is helpful for lane detection and to avoid collission.
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
Advancement in transportation system has boosted speed of our lives. Meantime, road traffic accident is a major global health issue resulting huge loss of lives, properties and valuable time. It is considered as one of the reasons of…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…
Agricultural robots are expected to increase yields in a sustainable way and automate precision tasks, such as weeding and plant monitoring. At the same time, they move in a continuously changing, semi-structured field environment, in which…