Related papers: Factor-Graph-Based Passive Acoustic Navigation for…
In the multiple unmanned aerial vehicle (UAV)- assisted downlink communication, it is challenging for UAV base stations (UAV BSs) to realize trajectory design and resource assignment in unknown environments. The cooperation and competition…
A GPS-denied UAV (Agent B) is localised through INS alignment with the aid of a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several time instants. Agent B measures the signals' direction of arrival with respect to…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
Despite recent advances in semantic Simultaneous Localization and Mapping (SLAM) for terrestrial and aerial applications, underwater semantic SLAM remains an open and largely unaddressed research problem due to the unique sensing modalities…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
Underwater acoustic target recognition (UATR) and localization (UATL) play important roles in marine exploration. The highly noisy acoustic signal and time-frequency interference among various sources pose big challenges to this task. To…
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…
Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
Key challenges in developing underwater acoustic localization methods are related to the combined effects of high reverberation in intricate environments. To address such challenges, recent studies have shown that with a properly designed…
Localization of underwater networks is important in many military and civil applications. Because GPS receivers do not work below the water surface, traditional localization methods form a relative topology of underwater nodes (UWNs) and…
Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…