Related papers: Magnetic-Assisted Initialization for Infrastructur…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Near-field localization is expected to play a crucial role in enabling a plethora of applications under the paradigm of 6G networks. The conventional localization methods rely on complex infrastructure for providing cooperative anchor nodes…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
Autonomous exploration in unknown environments is a critical challenge in robotics, particularly for applications such as indoor navigation, search and rescue, and service robotics. Traditional exploration strategies, such as frontier-based…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…