Related papers: Stable Multi-Drone GNSS Tracking System for Marine…
Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…
Dynamic systems of graph signals are encountered in various applications, including social networks, power grids, and transportation. While such systems can often be described as state space (SS) models, tracking graph signals via…
Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based…
There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane…
With an increasing variety of measurement applications using sensing nodes on unmanned aerial vehicles (UAVs), global positioning system (GPS) and global navigation satellite system (GNSS) disciplined oscillators (GPSDOs, GNSSDOs) are an…
In this paper, a multistatic Doppler sensing system is proposed for the drone tracking via downlink Long-Term Evolution (LTE) signals. Specifically, the LTE base stations (BSs) are exploited as signal illuminators, and three passive sensing…
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive navigation and control framework for an LSMR that ensures…
In this paper, we investigate the potential of reconfigurable intelligent surfaces (RISs) in facilitating passive/device-free three-dimensional (3D) drone localization within existing cellular infrastructure operating at millimeter-wave…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…
Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitoring, disaster response, and security surveillance. While…
Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…
This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…