Related papers: Automated Rendezvous & Docking Using 3D Vision
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. The tracking control problem is formulated as a disturbance rejection problem, with all the…
Current state-of-the-art autonomous driving vehicles mainly rely on each individual sensor system to perform perception tasks. Such a framework's reliability could be limited by occlusion or sensor failure. To address this issue, more…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
In the detection of gravitational waves in space, during the science phase of the mission, the point ahead angle mechanism (PAAM) serves to steer a laser beam to compensate for the angle generated by the relative motion of the two…
Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…
Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…
This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…
This paper is the second part of a series of studies discussing a novel attitude determination method for nano-satellites. Our approach is based on the utilization of thermal imaging sensors to determine the direction of the Sun and the…
This paper represents the novel high precision localization approach for Automated Driving (AD) relative to 3D map. The AD maps are not necessarily flat. Hence, the problem of localization is solved here in 3D. The vehicle motion is modeled…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…
Accurate relative orbit determination is a significant challenge in modern space operations, particularly when relying only on angular measurements. The inherent observability limitations of this approach make initial state estimation…
Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…
Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…