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Isospectral Runge-Kutta methods are well-suited for the numerical solution of isospectral systems such as the rigid body and the Toda lattice. More recently, these integrators have been applied to geophysical fluid models, where their…
The Kraus representation of quantum channels allows for a precise emulation of the complex dynamics that take place on quantum processors, whether for benchmarking algorithms, predicting the performance of error correction and mitigation,…
The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precise positioning of puncture…
While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a…
This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
The traditional GNSS-aided inertial navigation system (INS) usually exploits the extended Kalman filter (EKF) for state estimation, and the initial attitude accuracy is key to the filtering performance. To spare the reliance on the initial…
In emergency scenarios, the dynamic and harsh conditions necessitate timely trajectory adjustments for drones, leading to highly dynamic network topologies and potential task failures. To address these challenges, a collaborative computing…
Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we…
This paper addresses the challenge of transient stability in power systems with missing parameters and uncertainty propagation in swing equations. We introduce a novel application of Physics-Informed Neural Networks (PINNs), specifically an…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Accurate vessel trajectory prediction is crucial for navigational safety, route optimization, traffic management, search and rescue operations, and autonomous navigation. Traditional data-driven models lack real-world physical constraints,…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
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…
A fundamental requirement for full autonomy in mobile robots is accurate navigation even in situations where satellite navigation or cameras are unavailable. In such practical situations, relying only on inertial sensors will result in…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
Autonomous underwater vehicles rely on precise navigation systems that combine the inertial navigation system and the Doppler velocity log for successful missions in challenging environments where satellite navigation is unavailable. The…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…