Related papers: An improved FastEuler-DLKF small-UAV AHRS algorith…

Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-of-the-art (SOTA) LiDAR-Inertial Odometry (LIO) systems still…

This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…

Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such cluttered or GNSS-denied…

This paper conveys attitude and rate estimation without rate sensors by performing a critical comparison, validated by extensive simulations. The two dominant approaches to facilitate attitude estimation are based on stochastic and…

The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…

The Kalman filter is a fundamental tool for state estimation in dynamical systems. While originally developed for linear Gaussian settings, it has been extended to nonlinear problems through approaches such as the extended and unscented…

For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector…

Despite recent advances in Unmanned Underwater Vehicle (UUV) attitude control, existing methods still struggle with generalizability, robustness to real-world disturbances, and efficient deployment. To address the above challenges, this…

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…

This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV…

Many overall safety factors need to be considered in the next generation of Urban Air Mobility (UAM) systems and addressing these can become the anchor point for such technology to reach consent for worldwide application. On the other hand,…

State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…

Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…

Natural disasters, such as hurricanes and typhoons, pose significant challenges to public safety and infrastructure. While government agencies rely on multi million dollar UAV systems for storm data collection and disaster response, smaller…

Integrated sensing and communications (ISAC) enabled by unmanned aerial vehicles (UAVs) is a promising technology to facilitate target tracking applications. In contrast to conventional UAV-based ISAC system designs that mainly focus on…

Navigation plays a vital role in the ability of autonomous surface and underwater platforms to complete their tasks. Most navigation systems apply a fusion between inertial sensors and other external sensors, such as global navigation…

This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…

This paper builds on our Uncertainty-Guided Live Measurement Sequencing (UGLMS) method. UGLMS is a closed-loop test strategy that adaptively selects SAR ADC code edges based on model uncertainty and refines a behavioral mismatch model in…