Related papers: Towards Robust GNSS Positioning and Real-time Kine…

The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…

To capture spatial relationships and temporal dynamics in traffic data, spatio-temporal models for traffic forecasting have drawn significant attention in recent years. Most of the recent works employed graph neural networks(GNN) with…

This paper presents an outdoor tracking system using Real-Time Kinematic (RTK) positioning and Optical See-Through Head Mounted Display(s) (OST-HMD(s)) in urban areas where the accurate tracking of objects is critical and where displaying…

Sampling-based motion-planning algorithms typically rely on nearest-neighbor (NN) queries when constructing a roadmap. Recent results suggest that in various settings NN queries may be the computational bottleneck of such algorithms.…

Accuracy and Availability computations for a GNSS System - or combination of Systems - through Service Volume Simulations take considerable time. Therefore, the computation of the accuracy in 2D and 3D are often simplified by an approximate…

We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…

Dynamic spatial graph construction is a challenge in graph neural network (GNN) for time series data problems. Although some adaptive graphs are conceivable, only a 2D graph is embedded in the network to reflect the current spatial…

An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…

This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…

Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately track. For high-DOF robots such as manipulators,…

In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator…

We present an algorithm for combining natural language processing (NLP) and fast robot motion planning to automatically generate robot movements. Our formulation uses a novel concept called Dynamic Constraint Mapping to transform complex,…

We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB…

While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial…

This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…

Offline goal-conditioned reinforcement learning (GCRL) often struggles with long-horizon tasks, where errors in value estimation accumulate and produce unreliable policies. It is typically assumed that effective long-term planning is…

We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…

Accurate trajectory prediction for buses is crucial in intelligent transportation systems, particularly within urban environments. In developing regions where access to multimodal data is limited, relying solely on onboard GPS data remains…