Related papers: Relative Kinematics Estimation Using Accelerometer…
This paper presents an estimation method for time-varying graph signals among multiple sub-networks. In many sensor networks, signals observed are associated with nodes (i.e., sensors), and edges of the network represent the inter-node…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
The goal of this paper is to explore the accuracy of dashcam footage to predict the actual kinematic motion of a car-like vehicle. Our approach uses ground truth information from the vehicle's on-board data stream, through the controller…
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Smartphones equipped with sensors such as accelerometers, gyroscopes, and magnetometers offer valuable opportunities for physics education, allowing students to measure motion using their own devices. However, commonly used applications…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
We analyze a distributed algorithm for estimation of scalar parameters belonging to nodes in a mobile network from noisy relative measurements. The motivation comes from the problem of clock skew and offset estimation for the purpose of…
Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…
Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well as in many robotic limbs, then the joint axis vector must be…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
We present a numerical method for computing the \textit{Fermi} and \textit{observational coordinates} of a distant test particle with respect to an observer. We apply this method for computing some previously introduced concepts of relative…
Most of the existing 3D human pose estimation approaches mainly focus on predicting 3D positional relationships between the root joint and other human joints (local motion) instead of the overall trajectory of the human body (global…
We study a class of nonlinear nonparametric inverse problems. Specifically, we propose a nonparametric estimator of the dynamics of a monotonically increasing trajectory defined on a finite time interval. Under suitable regularity…
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…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
The Kinematic Theory of rapid movements, and its associated Sigma-Lognormal, model 2D spatiotemporal trajectories. It is constructed mainly as a temporal overlap of curves between virtual target points. Specifically, it uses an arc and a…