Related papers: Evaluation and Optimization of Positional Accuracy…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
Satellite-based onboard data processing is crucial for time-sensitive applications requiring timely and efficient rapid response. Advances in edge artificial intelligence are shifting computational power from ground-based centers to…
Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…
Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…
A real time assimilation and forecasting system for coastal currents is presented. The purpose of the system is to deliver current analyses and forecasts based on assimilation of high frequency radar surface current measurements. The local…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland,…
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…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
Physics-related and model-based vessel trajectory prediction is highly accurate but requires specific knowledge of the vessel under consideration which is not always practical. Machine learning-based trajectory prediction models do not…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
The Automatic Identification System (AIS) tracks vessel movement by means of electronic exchange of navigation data between vessels, with onboard transceiver, terrestrial and/or satellite base stations. The gathered data contains a wealth…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
This paper proposes a position fixing method for autonomous navigation using partial gravity gradient solutions from cold atom interferometers. Cold atom quantum sensors can provide ultra-precise measurements of inertial quantities, such as…
In colocated compressive sensing MIMO radar, the measurement matrix is specified by antenna placement. To guarantee an acceptable recovery performance, this measurement matrix should satisfy certain properties, e.g., a small coherence.…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…