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This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…
State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc., whose proper operation relies on accurate state estimates and reliable…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
This paper introduces the united monocular-stereo features into a visual-inertial tightly coupled odometry (UMS-VINS) for robust pose estimation. UMS-VINS requires two cameras and a low-cost inertial measurement unit (IMU). The UMS-VINS is…
Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep…
State estimation for nonlinear dynamical systems is a critical challenge in control and engineering applications, particularly when only partial and noisy measurements are available. This paper introduces a novel Adaptive Physics-Informed…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics…
Contraction analysis offers, through elegant mathematical developments, a unified way of designing observers for a general class of nonlinear systems, where the observer correction term is obtained by solving an infinite dimensional…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…
This paper introduces a novel approach to solve inverse problems by leveraging deep learning techniques. The objective is to infer unknown parameters that govern a physical system based on observed data. We focus on scenarios where the…
Employing Unmanned Aircraft Systems (UAS) beyond visual line of sight (BVLOS) is an endearing and challenging task. While UAS have the potential to significantly enhance today's logistics and emergency response capabilities, unmanned flying…
Misalignment angle will result in a considerable error for the integration of Doppler Velocity Log (DVL) and of Strapdown Inertial Navigation System (SINS). In this paper, a robust initial alignment method for SINS/DVL is proposed to solve…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem considered is the stabilization of equilibrium points. Motivated…
Spacecraft pose estimation is a key task to enable space missions in which two spacecrafts must navigate around each other. Current state-of-the-art algorithms for pose estimation employ data-driven techniques. However, there is an absence…
Most mobile robots follow a modular sense-planact system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due to trajectories devoid of feature matches. Planning in belief…