相关论文: Position USBL/DVL Sensor-based Navigation Filter i…

We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…

The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent interruptions. When communication…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

Control performance of Unmanned Aerial Vehicles (UAVs) is directly affected by their ability to estimate their states accurately. With the increasing popularity of autonomous UAV solutions in real world applications, it is imperative to…

This paper builds on our Uncertainty-Guided Live Measurement Sequencing (UGLMS) method. UGLMS is a closed-loop test strategy that adaptively selects SAR ADC code edges based on model uncertainty and refines a behavioral mismatch model in…

In this paper, in order to enhance the numerical stability of the unscented Kalman filter (UKF) used for power system dynamic state estimation, a new UKF with guaranteed positive semidifinite estimation error covariance (UKF-GPS) is…

This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…

The Extended Kalman Filter (EKF) is a well established technique for position and velocity estimation. However, the performance of the EKF degrades considerably in highly non-linear system applications as it requires local linearisation in…

In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…

This paper presents a neural network-based Unscented Kalman Filter (UKF) to estimate and track the pose (i.e., position and orientation) of a known, noncooperative, tumbling target spacecraft in a close-proximity rendezvous scenario. The…

Continuous electrocardiogram (ECG) monitoring via wearable devices is vital for early cardiovascular disease detection. However, deploying deep learning models on resource-constrained microcontrollers faces reliability challenges,…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems…

Visual degradation caused by limited visibility, insufficient lighting, and feature scarcity in underwater environments presents significant challenges to visual-inertial simultaneous localization and mapping (SLAM) systems. To address…

The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…

Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…