Related papers: Reflection-Based Relative Localization for Coopera…
This paper addresses high-resolution vehicle positioning and tracking. In recent work, it was shown that a fleet of independent but neighboring vehicles can cooperate for the task of localization by capitalizing on the existence of common…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
Motion capture through tracking retroreflectors obtains highly accurate pose estimation, which is frequently used in robotics. Unlike commercial motion capture systems, fiducial marker-based tracking methods, such as AprilTags, can perform…
Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…
In this paper, a novel approach that uses an unmanned aerial vehicle (UAV)-carried intelligent reflector (IR) is proposed to enhance the performance of millimeter wave (mmW) networks. In particular, the UAV-IR is used to intelligently…
Visual obstacle discovery is a key step towards autonomous navigation of indoor mobile robots. Successful solutions have many applications in multiple scenes. One of the exceptions is the reflective ground. In this case, the reflections on…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object behind the glass or the distance to a reflected object.…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
One of the most useful applications of intelligent aerial robots sometimes called Unmanned Aerial Vehicles (UAV) in Australia is known to be in bushfire monitoring and prediction operations. A swarm of autonomous drones/UAVs programmed to…
Localizing radio frequency (RF) sources with an unmanned aerial vehicle (UAV) has many important applications. As a result, UAV-based localization has been the focus of much research. However, previous approaches rely heavily on custom…
Nano-sized unmanned aerial vehicles (UAVs) are well-fit for indoor applications and for close proximity to humans. To enable autonomy, the nano-UAV must be able to self-localize in its operating environment. This is a…
Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…
Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
Advancements in unmanned aerial vehicle (UAV) remote sensing with spectral imaging enable efficient assessment of critical agronomic traits. However, existing reflectance calibration or generation methods suffer from limited prediction…