Related papers: Reflection-Based Relative Localization for Coopera…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
Micro Air Vehicles (MAVs) will unlock their true potential once they can operate in groups. To this end, it is essential for them to estimate on-board the relative location of their neighbors. The challenge lies in limiting the mass and…
To navigate reliably in indoor environments, an industrial autonomous vehicle must know its position. However, current indoor vehicle positioning technologies either lack accuracy, usability or are too expensive. Thus, we propose a novel…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
This paper introduces an indoor localization method using fixed reflector objects within the environment, leveraging a base station (BS) equipped with Angle of Arrival (AoA) and Time of Arrival (ToA) measurement capabilities. The…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition…
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals…
In this paper, the problem of using one active unmanned aerial vehicle (UAV) and four passive UAVs to localize a 3D target UAV in real time is investigated. In the considered model, each passive UAV receives reflection signals from the…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…
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…
In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…
For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
Maritime obstacle detection aims to detect possible obstacles for autonomous driving of unmanned surface vehicles. In the context of maritime obstacle detection, the water surface can act like a mirror on certain circumstances, causing…