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In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…

We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…

State-of-the-art LiDAR calibration frameworks mainly use non-probabilistic registration methods such as Iterative Closest Point (ICP) and its variants. These methods suffer from biased results due to their pair-wise registration procedure…

Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…

This paper presents a sensor fusion based Global Navigation Satellite System (GNSS) spoofing attack detection framework for autonomous vehicles (AV) that consists of two concurrent strategies: (i) detection of vehicle state using predicted…

Autonomous shuttles (AS) are fully autonomous transit vehicles with operating characteristics distinct from conventional autonomous vehicles (AV). Developing dedicated car-following models for AS is critical to understanding their traffic…

Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…

The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…

A new relation among a class of optimal control systems and Lagrangian systems with symmetry is discussed. It will be shown that a family of solutions of optimal control systems whose control equation are obtained by means of a group action…

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 a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multi-level constraints, including the…

The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…

Driver behavior profiling is one of the main issues in the insurance industries and fleet management, thus being able to classify the driver behavior with low-cost mobile applications remains in the spotlight of autonomous driving. However,…

The lane-level localization accuracy is very important for autonomous vehicles. The Global Navigation Satellite System (GNSS), e.g. GPS, is a generic localization method for vehicles, but is vulnerable to the multi-path interference in the…

Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…

With the advent of self-driving vehicles, autonomous driving systems will have to rely on a vast number of heterogeneous sensors to perform dynamic perception of the surrounding environment. Synthetic Aperture Radar (SAR) systems increase…

The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…

Unpredictable and complex aerodynamic effects pose significant challenges to achieving precise flight control, such as the downwash effect from upper vehicles to lower ones. Conventional methods often struggle to accurately model these…

Movable antennas (MAs) have received increasing attention in wireless communications due to their capability of antenna position adjustment to reconfigure wireless channels. However, moving MAs results in non-negligible delay, which may…

Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localization. In this paper we…