Related papers: iNavFIter-M: Matrix Formulation of Functional Iter…
This article is concerned with a new filtered two-step variational integrator for solving the charged-particle dynamics in a mildly non-uniform moderate or strong magnetic field with a dimensionless parameter $\varepsilon$ inversely…
Inertial algorithms for minimizing nonsmooth and nonconvex functions as the inertial proximal alternating linearized minimization algorithm (iPALM) have demonstrated their superiority with respect to computation time over their non inertial…
The article presents a computationally effective algorithm for calculating the multiresolution discrete Fourier transform (MrDFT). The algorithm is based on the idea of reducing the computational complexity which was introduced by Wen and…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
We introduce an inertial quasi-Newton Forward-Backward Splitting Algorithm to solve a class of monotone inclusion problems. While the inertial step is computationally cheap, in general, the bottleneck is the evaluation of the resolvent…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
The Quantum Fisher Information matrix (QFIM) is a central metric in promising algorithms, such as Quantum Natural Gradient Descent and Variational Quantum Imaginary Time Evolution. Computing the full QFIM for a model with $d$ parameters,…
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple)…
A new algorithm for the approximation and simulation of twofold iterated stochastic integrals together with the corresponding L\'{e}vy areas driven by a multidimensional Brownian motion is proposed. The algorithm is based on a truncated…
The integration of machine learning techniques into Inertial Confinement Fusion (ICF) simulations has emerged as a powerful approach for enhancing computational efficiency. By replacing the costly Non-Local Thermodynamic Equilibrium (NLTE)…
In this paper we present a method for matrix inversion based on Cholesky decomposition with reduced number of operations by avoiding computation of intermediate results; further, we use fixed point simulations to compare the numerical…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
We introduce the use of the Fast Multipole Method (FMM) to speed up gravitational lensing ray tracing calculations. The method allows very fast calculation of ray deflections when a large number of deflectors, $N_*$, is involved, while…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…
This paper proposes a geomagnetic and inertial combined navigation approach based on the flexible correction-model predictive control algorithm (Fc-MPC). This approach aims to overcome the limitations of existing combined navigation methods…
Accuracy and computational efficiency are the most important metrics to Visual Inertial Navigation System (VINS). The existing VINS algorithms with either high accuracy or low computational complexity, are difficult to provide the high…