Related papers: Factor-Graph-Based Passive Acoustic Navigation for…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
Modern robotics often involves multiple embodied agents operating within a shared environment. Path planning in these cases is considerably more challenging than in single-agent scenarios. Although standard Sampling-based Algorithms (SBAs)…
Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous…
In this paper, a novel Three dimensional (3D) positioning framework of fluid antenna system (FAS)-enabled unmanned aerial vehicles (UAVs) is developed. In the proposed framework, a set of controlled UAVs cooperatively estimate the real-time…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
In audio-visual navigation (AVN) tasks, an embodied agent must autonomously localize a sound source in unknown and complex 3D environments based on audio-visual signals. Existing methods often rely on static modality fusion strategies and…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…
Existing works have explored the anchor deployment for autonomous underwater vehicles (AUVs) localization under the assumption that the sound propagates straightly underwater at a constant speed. Considering that the underwater acoustic…
Accurate estimation of the Underwater acoustic (UWA) is a key part of underwater communications, especially for coherent systems. The severe multipath effects and large delay spreads make the estimation problem large-scale. The…
This study focuses on the critical aspect of robust state estimation for the safe navigation of an Autonomous Vehicle (AV). Existing literature primarily employs two prevalent techniques for state estimation, namely filtering-based and…
Factor graph is a graph representing the factorization of a probability distribution function, and has been utilized in many autonomous machine computing tasks, such as localization, tracking, planning and control etc. We are developing an…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
Fast and accurate underwater acoustic charting is crucial for downstream tasks such as environment-aware sensor placement optimization and autonomous vehicle path planning. Conventional methods rely on computationally expensive while…