Related papers: A Localization Method Avoiding Flip Ambiguities fo…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
Micro Air Vehicles (MAVs) will unlock their true potential once they can operate in groups. To this end, it is essential for them to estimate on-board the relative location of their neighbors. The challenge lies in limiting the mass and…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
This paper presents a trustworthy framework for achieving accurate cooperative localization in multiple unmanned aerial vehicle (UAV) systems. The The Cramer-Rao Lower Bound (CRLB) for the three-dimensional (3D) cooperative localization…
In this paper, we study efficient \emph{mixed near-field and far-field} target localization methods in extremely large-scale multiple-input multiple-output (XL-MIMO) systems Compared with existing works, we address two new challenges in…
Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…
In this paper, a single Unmanned-Aerial-Vehicle (UAV)-aided localization algorithm which uses both Doppler and Time of Arrival (ToA) measurements is presented. In contrast to Doppler-based localization algorithms which are based on…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightweight, and…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
This paper investigates unmanned aerial vehicle (UAV) localization using time difference of arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. A 3D TDOA Cram\'er-Rao lower bound (CRLB) model…
Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…
This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…