Related papers: Stable Multi-Drone GNSS Tracking System for Marine…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
This paper presents the full requirements analysis, design, development, and testing of high-precision navigation flight software for Distributed Space Systems (DSS) using Carrier Phase Differential GNSS (CDGNSS). Five main contributions…
Multipath and non-line-of-sight (NLOS) signals are the major causes of poor accuracy of a global navigation satellite system (GNSS) in urban areas. Despite the wide usage of the GNSS in populated urban areas, it is difficult to suggest a…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
The future of inland navigation increasingly relies on autonomous systems and remote operations, emphasizing the need for accurate vessel trajectory prediction. This study addresses the challenges of video-based vessel tracking and…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…
Building upon the theory of Kalman Filtering on Lie Groups, this paper describes an Extended Kalman Filter and Smoother for Loosely Coupled Integration of GNSS/INS tailored for post-processing applications. The approach employs a dynamic…
Global navigation satellite systems (GNSS) are widely used for navigation and time distribution, features indispensable for critical infrastructure such as mobile communication networks, as well as emerging technologies like automated…
Due to the widespread deployment of Global Navigation Satellite Systems (GNSSs) for critical road or urban applications, one of the major challenges to be solved is the provision of integrity to terrestrial environments, so that GNSS may be…
Modern maritime navigation and control systems rely on digital sensing, estimation, and communication pipelines that fuse GNSS, radar, inertial, and AIS data through approaches such as Kalman-filter-based estimators. While these…
With the increasing use of autonomous unmanned aerial vehicles (UAVs), it is critical to ensure that they are continuously tracked and controlled, especially when UAVs operate beyond the communication range of ground stations (GSs).…
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation, demonstrating strong potential for robotic applications. However, 3DGS-based methods in robotics…
The control of high-dimensional systems, such as soft robots, requires models that faithfully capture complex dynamics while remaining computationally tractable. This work presents a framework that integrates Graph Neural Network…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
This is the paper for the first place winning solution of the Drone vs. Bird Challenge, organized by AVSS 2021. As the usage of drones increases with lowered costs and improved drone technology, drone detection emerges as a vital object…