Related papers: Inertial Collaborative Localisation for Autonomous…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However,…
This paper contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of previously published surveys and comparison studies, the…
We first define appropriate state representation and action space, and then design an adjustment mechanism based on the actions selected by the intelligent agent. The adjustment mechanism outputs the next state and reward value of the…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fly independently, and exchange data when possible to refine…
The demand for accurate localization has risen in recent years to enable the emerging of autonomous vehicles. To have these vehicles in the traffic ecosystem of smart cities, the need for an accurate positioning system is emphasized. To…
This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…
Low-cost air pollution sensors, offering hyper-local characterization of pollutant concentrations, are becoming increasingly prevalent in environmental and public health research. However, low-cost air pollution data can be noisy, biased by…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…