Related papers: Radio-based Multi-Robot Odometry and Relative Loca…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…
Navigation and localization of UAVs present a challenge when global navigation satellite systems (GNSS) are disrupted and unreliable. Traditional techniques, such as simultaneous localization and mapping (SLAM) and visual odometry (VO),…
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…
Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…
This paper presents a trustworthy framework for achieving accurate cooperative localization in multiple unmanned aerial vehicle (UAV) systems. The The Cramer-Rao Lower Bound (CRLB) for the three-dimensional (3D) cooperative localization…
The use of supervised learning with various sensing techniques such as audio, visual imaging, thermal sensing, RADAR, and radio frequency (RF) have been widely applied in the detection of unmanned aerial vehicles (UAV) in an environment.…
Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…
Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log-odds based occupancy mapping systems are often not able to keep up with the high point densities and framerates of modern sensors.…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and…
Relative localization is crucial for multi-robot systems to perform cooperative tasks, especially in GPS-denied environments. Current techniques for multi-robot relative localization rely on expensive or short-range sensors such as cameras…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
During this decade, Wireless Sensor Networks (WSNs) brought an increasing interest in the industrial and research world. One of their applications is the indoor localization. The ranging, i.e. the distance evaluation mechanism between…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…