Related papers: GNSS Array-Based Multipath Detection Employing UKF…
Vision-based Unmanned Aerial Vehicle (UAV) localization systems have been extensively investigated for Global Navigation Satellite System (GNSS)-denied environments. However, existing retrieval-based approaches face limitations in dataset…
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT is the Global Navigation Satellite System (GNSS) which…
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they…
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…
In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigation estimate is aided by a Doppler velocity log (DVL), depth…
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…
We consider the downlink transmission in a single cell multiple-input multiple-output system, in which the user equipment correspond to a vehicle moving along a given trajectory. This system utilizes millimeter wave channels characterized…
Accurate targets detection and tracking with mmWave radar is a key sensing capability that will enable more intelligent systems, create smart, efficient, automated system. This paper proposes an end-to-end detection-estimation-track…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
Reliable positioning in dense urban environments remains challenging due to frequent GNSS signal blockage, multipath, and rapidly varying satellite geometry. While factor graph optimization (FGO)-based GNSS-IMU fusion has demonstrated…
In literature, Extended Object Tracking (EOT) algorithms developed for autonomous driving predominantly provide obstacles state estimation in cartesian coordinates in the Vehicle Reference Frame. However, in many scenarios, state…
State estimation methods using factor graph optimization (FGO) have garnered significant attention in global navigation satellite system (GNSS) research. FGO exhibits superior estimation accuracy compared with traditional state estimation…
Accurate state estimation of nonlinear dynamical systems is fundamental to modern aerospace operations across air, sea, and space domains. Online tracking of adversarial unmanned aerial vehicles (UAVs) is especially challenging due to agile…
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extended Kalman Filter (M-ESEKF). By representing the robot's pose…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…
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…
NavIC is a newly established Indian regional Navigation Constellation with 3 satellites in geostationary Earth orbit (GEO) and 4 satellites in geosynchronous orbit (GSO). Satellite positions are essential in navigation for various…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
This paper deals with joint adaptive radar detection and target bearing estimation in the presence of mutual coupling among the array elements. First of all, a suitable model of the signal received by the multichannel radar is developed via…