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Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e.,…
This paper considers the attitude determination problem based on the global navigation satellite system (GNSS) and fifth-generation (5G) measurement fusion to address the shortcomings of standalone GNSS and 5G techniques in deep urban…
Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…
Industrial robot arms are extensively important for intelligent manufacturing. An industrial robot arm commonly enjoys its high repetitive positioning accuracy while suffering from its low absolute positioning accuracy, which greatly…
LiDARs plays an important role in self-driving cars and its configuration such as the location placement for each LiDAR can influence object detection performance. This paper aims to investigate an optimal configuration that maximizes the…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…
We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…
We introduce a novel approach addressing global analysis of a difficult class of nonconvex-nonsmooth optimization problems within the important framework of Lagrangian-based methods. This genuine nonlinear class captures many problems in…
In rapidly-evolving domains such as autonomous driving, the use of multiple sensors with different modalities is crucial to ensure high operational precision and stability. To correctly exploit the provided information by each sensor in a…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
Antenna array calibration is necessary to maintain the high fidelity of beam patterns across a wide range of advanced antenna systems and to ensure channel reciprocity in time division duplexing schemes. Despite the continuous development…
We consider the augmented Lagrangian method (ALM) as a solver for the fused lasso signal approximator (FLSA) problem. The ALM is a dual method in which squares of the constraint functions are added as penalties to the Lagrangian. In order…
Movable antenna (MA) has emerged as a promising technology to flexibly reconfigure wireless channels by adjusting antenna placement. In this paper, we study a secured dual-functional radar-communication (DFRC) system aided by movable…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
Movable antenna (MA) systems have attracted growing interest in wireless communications due to their ability to reshape wireless channels via local antenna movement within a confined region. However, optimizing antenna positions to enhance…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…