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Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…
The escalating interests on underwater exploration/reconnaissance applications have motivated high-rate data transmission from underwater to airborne relaying platforms, especially under high-sea scenarios. Thanks to its broad bandwidth and…
Indoor wireless ranging localization is a promising approach for low-power and high-accuracy localization of wearable devices. A primary challenge in this domain stems from non-line of sight propagation of radio waves. This study tackles a…
Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…
This work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…
The increasing number of unmanned aerial vehicles (UAVs) in urban environments requires a strategy to minimize their environmental impact, both in terms of energy efficiency and noise reduction. In order to reduce these concerns, novel…
The rapid growth of the low-altitude economy has driven the widespread adoption of unmanned aerial vehicles (UAVs). This growing deployment presents new challenges for UAV trajectory planning in complex urban environments. However, existing…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
There has been a rapid growth in the deployment of Unmanned Aerial Vehicles (UAVs) in various applications ranging from vital safety-of-life such as surveillance and reconnaissance at nuclear power plants to entertainment and hobby…
This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…
Indoor localization has drawn much attention owing to its potential for supporting location based services. Among various indoor localization techniques, the received signal strength (RSS) based technique is widely researched. However, in…
We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…
One major bottleneck in the practical implementation of received signal strength (RSS) based indoor localization systems is the extensive deployment efforts required to construct the radio maps through fingerprinting. In this paper, we aim…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
Autonomous robot exploration in large-scale or cluttered environments remains a central challenge in intelligent vehicle applications, where partial or absent prior maps constrain reliable navigation. This paper introduces FH-DRL, a novel…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…