Related papers: Distributed State Estimation for Vision-Based Coop…
On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…
This paper proposes a cooperative integrated sensing and communication (ISAC) scheme for the low-altitude sensing scenario, aiming at estimating the parameters of the unmanned aerial vehicles (UAVs) and enhancing the sensing performance via…
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…
Pose tracking of uncooperative spacecraft is an essential technology for space exploration and on-orbit servicing, which remains an open problem. Event cameras possess numerous advantages, such as high dynamic range, high temporal…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
With the current trend towards low Earth orbit mega-constellations with inter-satellite links, efficient routing in such highly dynamic space-borne networks is becoming increasingly important. Due to the distinct network topology,…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…
Unmanned Aerial Vehicles (UAVs) rely on satellite systems for stable positioning. However, due to limited satellite coverage or communication disruptions, UAVs may lose signals from satellite-based positioning systems. In such situations,…
Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
The recent advancements in communication and computational systems has led to significant improvement of situational awareness in connected and autonomous vehicles. Computationally efficient neural networks and high speed wireless vehicular…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…