Related papers: Factor-Graph-Based Passive Acoustic Navigation for…
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…
Localization of sensor nodes in the Internet of Underwater Things (IoUT) is of considerable significance due to its various applications, such as navigation, data tagging, and detection of underwater objects. Therefore, in this paper, we…
Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…
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…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Localizing acoustic sound sources in the ocean is a challenging task due to the complex and dynamic nature of the environment. Factors such as high background noise, irregular underwater geometries, and varying acoustic properties make…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
Visual degradation caused by limited visibility, insufficient lighting, and feature scarcity in underwater environments presents significant challenges to visual-inertial simultaneous localization and mapping (SLAM) systems. To address…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
Autonomous underwater vehicle (AUV) swarms are emerging as intelligent underwater networks, where each node must sense, communicate, process local data, and make decisions under severe acoustic constraints. Persistent underwater target…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
Detecting and localizing leaks in water distribution network systems is an important topic with direct environmental, economic, and social impact. Our paper is the first to explore the use of factor graph optimization techniques for leak…
Accurate underwater localization remains a challenge for inexpensive autonomous platforms that require highfrequency position updates. In this paper, we present a robust, low-cost localization pipeline for buoyancy-driven microFloats…
Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) and calibration. Typically, at their core, they have an…
This paper explores the use of factor graphs as an inference and analysis tool for Bayesian peer-to-peer decentralized data fusion. We propose a framework by which agents can each use local factor graphs to represent relevant partitions of…
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…