相关论文: A Sensor-based Long Baseline Position and Velocity…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…

Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous…

Autonomous Surface Vehicles (ASVs) play a crucial role in maritime operations, yet their navigation in shallow-water environments remains challenging due to dynamic disturbances and depth constraints. Traditional navigation strategies…

The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in terrestrial and aerial applications and acoustic beacon…

Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in normal driving conditions, the challenge remains to estimate…

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…

Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…

The unscented Kalman filter is an algorithm capable of handling nonlinear scenarios. Uncertainty in process noise covariance may decrease the filter estimation performance or even lead to its divergence. Therefore, it is important to adjust…

Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost…

Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…

Autonomous landing systems for Micro Aerial Vehicles (MAV) have been proposed using various combinations of GPS-based, vision, and fiducial tag-based schemes. Landing is a critical activity that a MAV performs and poor resolution of GPS,…

Accurate underwater target localization is essential for underwater exploration. To improve accuracy and efficiency in complex underwater environments, we propose the Electric Field Inversion-Localization Network (EFILN), a deep feedforward…

Advances in tracking technologies for animal movement require new statistical tools to better exploit the increasing amount of data. Animal positions are usually calculated using the GPS or Argos satellite system and include potentially…

Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena are difficult to model due to effects like nonlinearity,…

The objective is to investigate the advantages and performance of Extended Kalman Filter for the estimation of non-linear system where linearization takes place about a trajectory that was continually updated with the state estimates…

Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…

This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…

Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…