Related papers: Lightweight 3D LiDAR-Based UAV Tracking: An Adapti…

This paper presents an estimation and control framework that enables the targeted reentry of a drag-modulated spacecraft in the presence of atmospheric density uncertainty. In particular, an extended Kalman filter (EKF) is used to estimate…

Accurate 3D ground truth estimation is critical for applications such as autonomous navigation, surveillance, and robotics. This paper introduces a novel method that uses an Unscented Kalman Filter (UKF) to fuse 2D bounding box or pose…

This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…

Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…

Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low…

Tracking algorithms such as the Kalman filter aim to improve inference performance by leveraging the temporal dynamics in streaming observations. However, the tracking regularizers are often based on the $\ell_p$-norm which cannot account…

Accurate estimation of noise parameters is critical for optimal filter performance, especially in systems where true noise parameter values are unknown or time-varying. This article presents a quaternion left-invariant extended Kalman…

In this paper, a novel Three dimensional (3D) positioning framework of fluid antenna system (FAS)-enabled unmanned aerial vehicles (UAVs) is developed. In the proposed framework, a set of controlled UAVs cooperatively estimate the real-time…

Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from…

This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…

Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…

This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging problem because GNSS and other positioning sensors are prone…

LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…

Driven by technological breakthroughs, indoor tracking and localization have gained importance in various applications including the Internet of Things (IoT), robotics, and unmanned aerial vehicles (UAVs). To tackle some of the challenges…

Nighttime UAV tracking presents significant challenges due to extreme illumination variations and viewpoint changes, which severely degrade tracking performance. Existing approaches either rely on light enhancers with high computational…

The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…

Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…