Related papers: C-ZUPT: Stationarity-Aided Aerial Hovering
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…
Areostationary Mars orbit (AMO) satellites will play an important role in future expeditions to the Martian surface due to their strength as navigation and communication satellites. Perturbative forces experienced by an AMOR satellite will…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of current control strategies, restricting the range of…
The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
Mobile devices are becoming the primary platforms for many users who always roam around when accessing the cloud computing services. From this, the cloud computing is integrated into the mobile environment by introducing a new paradigm,…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
Modern quantum devices require high-precision Hamiltonian dynamics, but environmental noise can cause calibrated Hamiltonian parameters to drift over time, necessitating expensive recalibration. Detecting when recalibration is needed is…
This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…
Vehicle teleoperation has numerous potential applications, including serving as a backup solution for autonomous vehicles, facilitating remote delivery services, and enabling hazardous remote operations. However, complex urban scenarios,…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
This paper addresses network optimization in dynamic systems, where factors such as user composition, service requirements, system capacity, and channel conditions can change abruptly and unpredictably. Unlike existing studies that focus…
Orbital debris is a constraint on the long-term health of any spacecraft and must be considered during mission planning. Varying mechanisms have been proposed to quantify the problem. Assessment of orbital debris employing ground-based…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…