Related papers: Local positioning system as a classic alternative …

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

Visual Place Recognition (VPR) systems often have imperfect performance, affecting the `integrity' of position estimates and subsequent robot navigation decisions. Previously, SVM classifiers have been used to monitor VPR integrity. This…

We study the time-of-arrival problem for relativistic particles constrained to move on a ring, formulating the problem entirely within Quantum Field Theory (QFT). In contrast to its counterpart for motion in a line, the circle topology…

In normal observation procedures, the position of the observer is specified by GPS and celestial positions of an object will be calculated. But in some situations, like small zenith angle FOVs, GPS doesn't work. Therefore in this study, the…

The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…

This work presents a new approach for detection and exclusion (or de-weighting) of pseudo-range measurements from the Global Navigation Satellite System (GNSS) in order to improve the accuracy of single-epoch positioning, which is an…

The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…

Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…

In this paper, we present PALMS, an innovative indoor global localization and relocalization system for mobile smartphones that utilizes publicly available floor plans. Unlike most vision-based methods that require constant visual input,…

We propose a feedback scheme to control the vibrational motion of a single trapped particle based on indirect measurements of its position. It results the possibility of a motional phase space uncertainty contraction, correponding to cool…

Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To…

Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, while deep reinforcement learning(DRL)based approaches provide…

Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…

This paper develops an arbitrary-positioned buffer for the smoothed particle hydrodynamics (SPH) method, whose generality and high efficiency are achieved through two techniques. First, with the local coordinate system established at each…

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…

This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…

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…

A high performance Space-Time Reference in orbit could be realized using a stable atomic clock in a precisely defined orbit and linking that to high accuracy atomic clocks on the ground using a laser based time-transfer link. This would…

We consider the problem of self-localization by a resource-constrained node within a network given radio signal strength indicator (RSSI) measurements from a set of anchor nodes where the RSSI measurements as well as the anchor position…

Magnetic navigation (MagNav) is a rising alternative to the Global Positioning System (GPS) and has proven useful for aircraft navigation. Traditional aircraft navigation systems, while effective, face limitations in precision and…