Related papers: Egoistic MDS-based Rigid Body Localization
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
All-weather autonomy is critical for autonomous driving, which necessitates reliable localization across diverse scenarios. While LiDAR place recognition is widely deployed for this task, its performance degrades in adverse weather.…
Reconfigurable Intelligent Surface (RIS) has been recognized as a promising solution for enhancing localization accuracy. Traditional RIS-based localization methods typically rely on prior channel knowledge, beam scanning, and pilot-based…
We consider the robust multi-dimensional scaling (RMDS) problem in this paper. The goal is to localize point locations from pairwise distances that may be corrupted by outliers. Inspired by classic MDS theories, and nonconvex works for the…
Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…
Multi-rotor UAVs suffer from a restricted range and flight duration due to limited battery capacity. Autonomous landing on a 2D moving platform offers the possibility to replenish batteries and offload data, thus increasing the utility of…
We propose the use of a proportional-derivative (PD) control based policy learned via reinforcement learning (RL) to estimate and forecast 3D human pose from egocentric videos. The method learns directly from unsegmented egocentric videos…
Autonomous Mobile Robot (AMR) navigation in dynamic environments that may be GPS denied, without a-priori maps, is an unsolved problem with potential to improve humanity's capabilities. Conventional modular methods are computationally…
Robustness and safety are crucial properties for the real-world application of autonomous vehicles. One of the most critical components of any autonomous system is localisation. During the last 20 years there has been significant progress…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
We present a framework of elastic locomotion, which allows users to enliven an elastic body to produce interesting locomotion by prescribing its high-level kinematics. We formulate this problem as an inverse simulation problem and seek the…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
The lack of generalization in learning-based autonomous driving applications is shown by the narrow range of road scenarios that vehicles can currently cover. A generalizable approach should capture many distinct road structures and…
Can localization persist when interaction grows infinitely stronger than randomness? If so, is it many-body Anderson localization? How about the associated localization transition in the infinite-interaction limit? To tackle these…
Controlled gliding is one of the most energetically efficient modes of transportation for natural and human powered fliers. Here we demonstrate that gliding and landing strategies with different optimality criteria can be identified through…
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…
Recent years have seen the emergence of non-cooperative objects in space, like failed satellites and space junk. These objects are usually operated or collected by free-float dual-arm space manipulators. Thanks to eliminating the…
Motivated by experimental progress in cold atomic systems, we use and advance Localisation Landscape Theory (LLT), to examine two-dimensional systems with point-like random scatterers. We begin by showing that exact eigenstates cannot be…