Related papers: Local positioning system as a classic alternative …
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…
Arrangement of interacting particles on a sphere is historically a well known problem, however, ordering of particles with anisotropic interaction, such as the dipole-dipole interaction, has remained unexplored. We solve the orientational…
LLR measures the distance between observatories on Earth and retro-reflectors on Moon since 1969. In this paper, we estimate the Earth Rotation Parameters (ERP; terrestrial pole offsets, $x_p$ and $y_p$, and Earth rotation phase,…
We demonstrate a standing wave light pulse sequence that places atoms into a superposition of displaced wavepackets with precisely controlled displacements that remain constant for times as long as 1 s. The separated wavepackets are…
A point source atom interferometer (PSI) is a device where atoms are split and recombined by applying a temporal sequence of Raman pulses during the expansion of a cloud of cold atoms behaving approximately as a point source. Unlike a…
Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
We calculate the special and general relativistic effects of the Global Positioning System (GPS), especially the effects depending on the small deviation of the orbit from the circular one. This effect is well known but, to our knowledge,…
Low Earth orbit (LEO) satellites offer a promising alternative to global navigation satellite systems for precise positioning; however, their relatively low altitudes make them more susceptible to orbital perturbations, which in turn…
Constructing observables that describe the localization of relativistic particles is an important foundational problem in relativistic quantum field theory (QFT). The description of localization in terms of single-time observables leads to…
LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
Existing symmetry discovery methods predominantly focus on global transformations across the entire system or space, but they fail to consider the symmetries in local neighborhoods. This may result in the reported symmetry group being a…
Proprioceptive localization refers to a new class of robot egocentric localization methods that do not rely on the perception and recognition of external landmarks. These methods are naturally immune to bad weather, poor lighting…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
Orbit-determination programs find the orbit solution that best fits a set of observations by minimizing the RMS of the residuals of the fit. For near-Earth asteroids, the uncertainty of the orbit solution may be compatible with trajectories…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…
We study localization of atomic position when a three-level atom interacts with a quantized standing-wave field in the Ramsey interferometer setup. Both the field quadrature amplitude and the atomic internal state are measured to obtain the…