Related papers: Collaborative Localization for Micro Aerial Vehicl…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
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…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…
In this paper, we solve a joint cooperative localization and path planning problem for a group of Autonomous Aerial Vehicles (AAVs) in GPS-denied areas using nonlinear model predictive control (NMPC). A moving horizon estimator (MHE) is…
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.…
Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responders in such situations. However, first-person view…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
High-accurate localization is crucial for the safety and reliability of autonomous driving, especially for the information fusion of collective perception that aims to further improve road safety by sharing information in a communication…
In recent years, there has been a growing interest in the visual detection of micro aerial vehicles (MAVs) due to its importance in numerous applications. However, the existing methods based on either appearance or motion features encounter…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Multi-point vehicular positioning is one essential operation for autonomous vehicles. However, the state-of-the-art positioning technologies, relying on reflected signals from a target (i.e., RADAR and LIDAR), cannot work without…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
Multi-camera full-body pose capture of humans and animals in outdoor environments is a highly challenging problem. Our approach to it involves a team of cooperating micro aerial vehicles (MAVs) with on-board cameras only. The key…
This paper presents an indoor pose estimation system for micro aerial vehicles (MAVs) with a single WiFi access point. Conventional approaches based on computer vision are limited by illumination conditions and environmental texture. Our…
The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure…
Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…