Related papers: Navigation-compatible hybrid quantum accelerometer…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
Quantum interferometry methods exploit quantum resources, such as photonic entanglement, to enhance phase estimation beyond classical limits. Nonlinear optics has served as a workhorse for the generation of entangled photon pairs, ensuring…
In autonomous driving, the hybrid strategy of deep reinforcement learning and cooperative adaptive cruise control (CACC) can fully utilize the advantages of the two algorithms and significantly improve the performance of car following.…
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, and time-varying noise characteristics often lead to…
An observer is an estimator of the state of a dynamical system from noisy sensor measurements. The need for observers is ubiquitous, with applications in fields ranging from engineering to biology to economics. The most widely used observer…
Recent advances in cold atom interferometry have cleared the path for space applications of quantum inertial sensors, whose level of stability is expected to increase dramatically with the longer interrogation times accessible in space. In…
This paper proposes a position fixing method for autonomous navigation using partial gravity gradient solutions from cold atom interferometers. Cold atom quantum sensors can provide ultra-precise measurements of inertial quantities, such as…
In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigation estimate is aided by a Doppler velocity log (DVL), depth…
By exploiting the correlation properties of ultracold atoms in a multi-mode interferometer, we show how quantum enhanced measurement precision can be achieved with strong robustness to particle loss. While the potential for enhanced…
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter…
This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…
Atom interferometers offer excellent sensitivity to gravitational and inertial signals but have limited dynamic range. We introduce a scheme that improves on this trade-off by a factor of 50 using composite fringes, obtained from sets of…
We demonstrate a minimally-destructive in situ technique for measuring and stabilizing slowly-drifting magnetic fields in ultracold-atom experiments. While conventional magnetic-field sensors such as Hall, giant magnetoresistive, or…
Kalman filters constitute a scalable and robust methodology for approximate Bayesian inference, matching first and second order moments of the target posterior. To improve the accuracy in nonlinear and non-Gaussian settings, we extend this…
Sensitive and accurate rotation sensing is a critical requirement for applications such as inertial navigation [1], north-finding [2], geophysical analysis [3], and tests of general relativity [4]. One effective technique used for rotation…
Humanoid robots have great potential for a wide range of applications, including industrial and domestic use, healthcare, and search and rescue missions. However, bipedal locomotion in different environments is still a challenge when it…
Accurate localization is crucial for effectively operating mobile robots in indoor environments. This paper presents a comprehensive approach to mobile robot localization by integrating an ultrasound-based indoor positioning system (IPS)…
We present a novel filtering algorithm that employs Bayesian transfer learning to address the challenges posed by mismatched intensity of the noise in a pair of sensors, each of which tracks an object using a nonlinear dynamic system model.…
In millimeter-wave (mmWave) systems, beamforming is needed to overcome harsh channel environments. As a promising beamforming solution, lens antenna array (LAA) implementation can provide a cost-effective solution without notable…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…