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Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
A general class of Newton algorithms on Gra{\ss}mann and Lagrange-Gra{\ss}mann manifolds is introduced, that depends on an arbitrary pair of local coordinates. Local quadratic convergence of the algorithm is shown under a suitable condition…
In this paper, we study the Crank-Nicolson method for temporal dimension and the piecewise quadratic polynomial collocation method for spatial dimensions of time-dependent nonlocal problems. The new theoretical results of such…
Fingerprinting techniques are widely used for localization because of their accuracy, especially in the presence of wireless channel noise. However, the fingerprinting techniques require significant storage and running time, which is a…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
The relativity of Global Positioning System (GPS) pseudorange measurements is explored within the geometrical optics approximation in the curved space-time near Earth. A space-time grid for navigation is created by the discontinuities…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the…
We consider a quantum test particle in the background of a Newtonian gravitational field in the framework of Cartan's formulation of nonrelativistic spacetimes. We have proposed a novel quantization of a point particle which amounts to…
We investigate the suitability and properties of a quasi-Kinnersley tetrad and a geometrically motivated coordinate system as tools for quantifying both strong-field and wave-zone effects in numerical relativity (NR) simulations. We fix the…
Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
The strong gravitational field near massive blackhole is an interesting regime to test General Relativity(GR) and modified gravity theories. The knowledge of spacetime metric around a blackhole is a primary step for such tests. Solving…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
We propose a covariant algorithm for relativistic ideal measurements and for relativistic continuous measurements, its non-relativistic limit results the algorithm of the Event-Enhanced Quantum Theory. Therefore an additional intrinsic…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…
We propose a quantum metrology protocol for the localization of a non-cooperative point-like target in three-dimensional space, by illuminating it with electromagnetic waves. It employs all the spatial degrees of freedom of N entangled…
We introduce a covariant canonical quantization for a particle in curved spacetime that tracks operator-ordering ambiguities. Parameterizing spatial and temporal ordering, we derive a Hermitian Hamiltonian with leading quantum-relativistic…