Related papers: Stable Multi-Drone GNSS Tracking System for Marine…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Multi-object tracking (MOT) enables autonomous vehicles to continuously perceive dynamic objects, supplying essential temporal cues for prediction, behavior understanding, and safe planning. However, conventional tracking-by-detection…
Multiple Object Tracking (MOT) has been a useful yet challenging task in many real-world applications such as video surveillance, intelligent retail, and smart city. The challenge is how to model long-term temporal dependencies in an…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…
Multi-object tracking (MOT) is among crucial applications in modern advanced driver assistance systems (ADAS) and autonomous driving (AD) systems. The global nearest neighbor (GNN) filter, as the earliest random vector-based Bayesian…
Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
This paper considers a networked tracking architecture in 6G integrated sensing and communication (ISAC) systems, where multiple base stations (BSs) cooperatively transmit radio signals and process received echo signals to track multiple…
Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage…
The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…
The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…
This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…