Related papers: Robust simultaneous UWB-anchor calibration and rob…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…
In the article, we describe a trajectory planning problem for a 6-DOF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of…
Ultra-wideband (UWB) is a state-of-the-art technology designed for applications requiring centimeter-level localization. Its widespread adoption by smartphone manufacturer naturally raises security and privacy concerns. Successfully…
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Location is one of the basic information required for underwater optical wireless sensor networks (UOWSNs) for different purposes such as relating the sensing measurements with precise sensor positions, enabling efficient geographic routing…
We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…
Reliable positioning in GNSS-challenged environments remains a critical challenge for navigation systems. Tightly coupled GNSS/IMU fusion improves robustness but remains vulnerable to non-Gaussian noise and outliers. We present a robust and…
We develop a unified Fisher-information framework for localization in environments with both Line-of-Sight (LOS) and Non-Line-of-Sight (NLOS) paths, focusing on diffraction-dominated NLOS propagation characteristic of Outdoor-to-Indoor…
Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped robot acting as a dynamic docking pad.…
Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…
Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…
Relative localization is a crucial functional block of any robotic swarm. We address it in a fleet of nano-drones characterized by a 10 cm-scale form factor, which makes them highly versatile but also strictly limited in their onboard power…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
We propose a method that achieves near-optimal rates for smooth stochastic convex optimization and requires essentially no prior knowledge of problem parameters. This improves on prior work which requires knowing at least the initial…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
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…