Related papers: Localization with Directional Coordinates
We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurements to accurately estimate the longitudinal position of the…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
Spectrum cartography constructs maps of metrics such as channel gain or received signal power across a geographic area of interest using spatially distributed sensor measurements. Applications of these maps include network planning,…
The theory of relativistic {\em location systems} is sketched. An interesting class of these systems is that of relativistic {\em positioning systems,} which consists in sets of four clocks broadcasting their proper time. Among them, the…
The transformation from angle-action variables to Cartesian coordinates is a crucial step of the (semi) classical description of bimolecular collisions and photo-fragmentations. The basic reason is that dynamical conditions corresponding to…
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work presents two complementary spherical mapping systems: a…
In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the environment, as recognizing an object or asking someone for a…
We describe coordinate systems adapted for the space between two surfaces, such as those delineating the highly folded cortex in mammalian brains. These systems are estimated in order to satisfy geometric priors, including streamline…
This paper presents a unified framework for robust three-dimensional (3-D) source localization using a network of sensors equipped with one-dimensional (1-D) linear arrays. While such arrays offer practical advantages in terms of cost and…