Related papers: Continuum Robot Localization using Distributed Tim…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
Source localization plays a key role in many applications including radar, wireless and underwater communications. Among various localization methods, the most popular ones are Time-Of-Arrival (TOA), Time-Difference-Of-Arrival (TDOA), and…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
In a standard navigation pipeline, a robot localizes at every time step to lower navigational errors. However, in some scenarios, a robot needs to selectively localize when it is expensive to obtain observations. For example, an underwater…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which is common for underwater settings. This makes it difficult to…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
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…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Simultaneous Localization and Mapping (SLAM) technology enables the construction of environmental maps and localization, serving as a key technique for indoor autonomous navigation of mobile robots. Traditional SLAM methods typically…
This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
This paper presents a system for robust, large-scale topological localisation using Frequency-Modulated Continuous-Wave (FMCW) scanning radar. We learn a metric space for embedding polar radar scans using CNN and NetVLAD architectures…