Related papers: One-Shot Initial Orbit Determination in Low-Earth …
The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…
We have used an existing, robotic, multi-lens, all-sky camera system, coupled to a dedicated data reduction pipeline, to automatically determine orbital parameters of satellites in Low Earth Orbit (LEO). Each of the fixed cameras has a…
This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements in the way of Multi-State Constraint Kalman Filter (MSCKF).…
This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently…
A crucial part of a space mission for very-long baseline interferometery (VLBI), which is the technique capable of providing the highest resolution images in astronomy, is orbit determination of the mission's space radio telescope(s). In…
Precise localization with respect to a set of objects of interest enables mobile robots to perform various tasks. With the rise of edge devices capable of deploying deep neural networks (DNNs) for real-time inference, it stands to reason to…
We introduce a new method to perform preliminary orbit determination for space debris on low Earth orbits (LEO). This method works with tracks of radar observations: each track is composed by $n\ge 4$ topocentric position vectors per pass…
Extended object tracking considers the simultaneous estimation of the kinematic state and the shape parameters of a moving object based on a varying number of noisy detections. A main challenge in extended object tracking is the…
In this paper, the time- and propellant-optimal low-thrust rephasing problems in circular orbit are studied to depict their solution spaces in an atlas. The number of key parameters that settle the rephasing problems is reduced by…
This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of…
To achieve robust and accurate state estimation for robot navigation, we propose a novel Visual Inertial Odometry(VIO) algorithm with line features upon the theory of invariant Kalman filtering and Cubature Kalman Filter (CKF). In contrast…
A commonly encountered problem is the tracking of a physical object, like a maneuvering ship, aircraft, land vehicle, spacecraft or animate creature carrying a wireless device. The sensor data is often limited and inaccurate observations of…
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…
The impact of formation flying on interferometry is growing over the years for the potential performance it could offer. However, it is still an open field, and many studies are still required. This article presents the basic principles…
This paper presents a comprehensive analysis of how excitation design influences the identification of the inertia properties of rigid nano- and micro-satellites. We simulate nonlinear attitude dynamics with reaction-wheel coupling,…
Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of…
In this paper, we study the design of an optimal transmission policy for remote state estimation over packet-dropping wireless channels with imperfect channel state information. A smart sensor uses a Kalman filter to estimate the system…
This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…