Related papers: C-ZUPT: Stationarity-Aided Aerial Hovering
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Tracking points in videos is typically formulated as frame-to-frame correspondence, where each point is matched locally to the next frame. While this works over short horizons, errors accumulate under articulation, occlusion, and viewpoint…
Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
To date, there are little reliable data on the position, velocity and acceleration characteristics of Unidentified Aerial Phenomena (UAP). The dual hardware and software system described in this document provides a means to address this…
Robust and accurate calibration of macroscopic traffic flow models such as METANET is critical for reliable prediction and effective control. While gradient-based methods are desirable for high-dimensional parameter spaces, their…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
Fully re-orientable small spacecraft are now supported by commercial technologies, allowing them to point their instruments in any direction and capture images, with short notice. When combined with improved onboard processing, and…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…
Predicting the motion of surrounding vehicles is key to safe autonomous driving, especially in unstructured environments without prior information. This paper proposes a novel online method to accurately predict the occupancy sets of…
Networks of low-cost sensors are becoming ubiquitous, but often suffer from poor accuracies and drift. Regular colocation with reference sensors allows recalibration but is complicated and expensive. Alternatively the calibration can be…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
The study of terrain and landform classification through UAV remote sensing diverges significantly from ground vehicle patrol tasks. Besides grappling with the complexity of data annotation and ensuring temporal consistency, it also…
Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupling between controller gains and observer parameters. In…
This paper presents a novel software-based approach to stabilizing the acoustic images for in-air 3D sonars. Due to uneven terrain, traditional static beamforming techniques can be misaligned, causing inaccurate measurements and imaging…