Related papers: IMU Preintegration for Multi-Robot Systems in the …

Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…

Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…

The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…

Multimodal machine learning models, such as those that combine text and image modalities, are increasingly used in critical domains including public safety, security, and healthcare. However, these systems inherit biases from their single…

In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…

Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…

Human-robot interaction benefits greatly from multimodal sensor inputs as they enable increased robustness and generalization accuracy. Despite this observation, few HRI methods are capable of efficiently performing inference for multimodal…

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…

Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-motion constraint…

In this paper, we consider the demodulation and equalization problem of differential Impulse Radio (IR) Ultra-WideBand (UWB) Systems with Inter-Symbol-Interference (ISI). The differential IR UWB systems have been extensively discussed…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications. In this article, we revisit the preintegration theory and propose a novel interpretation to understand it from a nonlinear…

Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…

This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position…

Numerous studies have shown that machine learning algorithms can latch onto protected attributes such as race and gender and generate predictions that systematically discriminate against one or more groups. To date the majority of bias and…

In situations involving teams of diverse robots, assigning appropriate roles to each robot and evaluating their performance is crucial. These roles define the specific characteristics of a robot within a given context. The stream actions…

In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…

This is a preliminary version of visual interpretation integrating multiple sensors in SUCCESSOR, an intelligent, model-based vision system. We pursue a thorough integration of hierarchical Bayesian inference with comprehensive physical…

To improve the accessibility of smart devices and to simplify their usage, building models which understand user interfaces (UIs) and assist users to complete their tasks is critical. However, unique challenges are proposed by UI-specific…

Bias estimation or sensor registration is an essential step in ensuring the accuracy of global tracks in multisensor-multitarget tracking. Most previously proposed algorithms for bias estimation rely on local measurements in centralized…