Related papers: Relative Localization System Design for SnailBot: …
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to deliver fast and accurate estimation in typical real-world…
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation (e.g., dynamic maneuvers) and accurate global localization (e.g., wayfinding). While most existing sensor-fusion approaches are…
The process of simultaneously mapping the environment in three dimensional (3D) space and localizing a moving vehicle's pose (orientation and position) is termed Simultaneous Localization and Mapping (SLAM). SLAM is a core task in robotics…
Enabling autonomous operation of large-scale construction machines, such as excavators, can bring key benefits for human safety and operational opportunities for applications in dangerous and hazardous environments. To facilitate robot…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
A method of information transmission using visual markers has been widely studied. In this approach, information or identifiers (IDs) are encoded in the black-and-white pattern of each marker. By analyzing the geometric properties of the…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals…
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…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…
This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…