Related papers: SaWa-ML: Structure-Aware Pose Correction and Weigh…
In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance estimation from time-of-flight measurements of wireless…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
Component inspection is often the bottleneck in high-value manufacturing, driving industries like aerospace toward automated inspection technologies. Current systems often employ fixed arm robots, but they lack the flexibility in adapting…
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…
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…
In robot automated assembly, snap assembly precision and efficiency directly determine overall production quality. As a core prerequisite, snap detection and localization critically affect subsequent assembly success. Traditional visual…
Wireless sensor networks require accurate target localization, often achieved through received signal strength (RSS) localization estimation based on maximum likelihood (ML). However, ML-based algorithms can suffer from issues such as low…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…