Related papers: Cooperative Integrated Estimation-Guidance for Sim…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…
This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…
This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially accounts for the constraints imposed by the interceptor's…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
This paper presents a Bayesian framework for inferring the posterior of the augmented state of a target, incorporating its underlying goal or intent, such as any intermediate waypoints and/or the final destination. Thus, it is for joint…
Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…
Vision-based target motion estimation is a fundamental problem in many robotic tasks. The existing methods have the limitation of low observability and, hence, face challenges in tracking highly maneuverable targets. Motivated by the aerial…
This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…