Related papers: Network Localization Based Planning for Autonomous…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Multi-context model learning is crucial for marine robotics where several factors can cause disturbances to the system's dynamics. This work addresses the problem of identifying multiple contexts of an AUV model. We build a simulation model…
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectories for multiple UAVs while satisfying requirements of connectivity with ground base stations (GBSs) is a…
Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…
Vehicle localization is essential for autonomous vehicle (AV) navigation and Advanced Driver Assistance Systems (ADAS). Accurate vehicle localization is often achieved via expensive inertial navigation systems or by employing…
Localization is a fundamental task for sensor networks. Traditional network construction approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), i.e., the communication graph needs to be…
Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…
Reliable positioning services are extremely important for users and devices in mountainous environments as it enables a variety of location-based applications. However, in such environments, the service reliability of conventional wireless…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
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…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…
Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magnetic-based navigation (MagNav) offers a robust solution by…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Unmanned aerial vehicle (UAV)-assisted communication becomes a promising technique to realize the beyond fifth generation (5G) wireless networks, due to the high mobility and maneuverability of UAVs which can adapt to heterogeneous…