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Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
The efficient placement of signal templates in source-parameter space is a crucial requisite for exhaustive matched-filtering searches of modeled gravitational-wave sources. Unfortunately, the current placement algorithms based on regular…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
Starting with an exact and simple geodesic, we generate approximate geodesics by summing up higher-order geodesic deviations within a General Relativistic setting, without using Newtonian and post-Newtonian approximations. We apply this…
For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…
The numerical integration of particle trajectories in curved spacetimes is fundamental for obtaining realistic models of the particle dynamics around massive compact objects such as black holes and neutron stars. Generalized algorithms…
Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…
We construct a theory of particles moving in curved both momentum space and spacetime, being a generalization of Relative Locality. We find that in order to construct such theory, with desired symmetries, including the general coordinate…
An implicit algorithm for solving the equations of general relativistic hydrodynamics in conservative form in three-dimensional axi-symmetry is presented. This algorithm is a direct extension of the pseudo-Newtonian implicit radiative…
Spatio-temporal forecasting is challenging attributing to the high nonlinearity in temporal dynamics as well as complex location-characterized patterns in spatial domains, especially in fields like weather forecasting. Graph convolutions…
In the context of relativistic positioning, the coordinates of a given user may be calculated by using suitable information broadcast by a 4-tuple of satellites. Our 4-tuples belong to the Galileo constellation. Recently, we estimated the…
We extend to three dimensions the proposal of a completely relativistic positioning system (rPS). The system does not rely on approximations, in fact, it works at a few Schwarzschild radii from a black hole, and it does not rely on…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Relativistic stereometric coordinates supplied by relativistic auto-locating positioning systems made up of four satellites supplemented by a fifth one are defined in addition to the well-known emission and reception coordinates. Such a…
This paper presents a method for motion planning under uncertainty to deal with situations where ambiguous data associations result in a multimodal hypothesis on the robot state. In the global localization problem, sometimes referred to as…
In general relativity, relativistic gravity gradiometry involves the measurement of the relativistic tidal matrix, which is theoretically obtained from the projection of the Riemann curvature tensor onto the orthonormal tetrad frame of an…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
This research presents a novel method of determining relative bearing and elevation measurements, to a remote signal, that is suitable for implementation on small embedded systems - potentially in a GPS denied environment. This is an…
The motion of satellite constellations similar to GPS and Galileo is numerically simulated and, then, the region where bifurcation (double positioning) occurs is appropriately represented. In the cases of double positioning, the true…
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…