Related papers: Experimental Study of Outdoor UAV Localization and…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
Unmanned aerial vehicles (UAVs) play an essential role in future wireless communication networks due to their high mobility, low cost, and on-demand deployment. In air-to-ground links, UAVs are widely used to enhance the performance of…
Ultra-wideband (UWB) indoor localization provides centimeter-level accuracy and low latency, but its measurement reliability degrades severely under Non-Line-of-Sight (NLOS) conditions, leading to meter-scale ranging errors and inconsistent…
The accurate Attitude Heading Reference System(AHRS) is an important apart of the UAV reliable flight system. Aiming at the application scenarios of near ground navigation of small-UAV, this paper establishes a loose couple error model of…
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for…
Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…
The widely-used Extended Kalman Filter (EKF) provides a straightforward recipe to estimate the mean and covariance of the state given all past measurements in a causal and recursive fashion. For a wide variety of applications, the EKF is…
Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…
Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of parametric uncertainty. Standard estimation frameworks…
In this paper, we focus on the potential use of unmanned aerial vehicles (UAVs) for search and rescue (SAR) missions in GPS-denied indoor environments. We consider the problem of navigating a UAV to a wireless signal source, e.g., a…
This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model…
In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…
Low Probability of Detection (LPD) communication aims to obscure the very presence of radio frequency (RF) signals, going beyond just hiding the content of the communication. However, the use of Unmanned Aerial Vehicles (UAVs) introduces a…
Numerous communications and networking challenges prevent deploying unmanned aerial vehicles (UAVs) in extreme environments where the existing wireless technologies are mainly ground-focused; and, as a consequence, the air-to-air channel…
The detection of unmanned aerial vehicles (UAVs) is important for the protection of civilian and military infrastructure. In this paper we propose a cost effective UAV detection system using sound signals obtained from microphones. The…
Driven by technological breakthroughs, indoor tracking and localization have gained importance in various applications including the Internet of Things (IoT), robotics, and unmanned aerial vehicles (UAVs). To tackle some of the challenges…
Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extended Kalman Filter (M-ESEKF). By representing the robot's pose…