相关论文: MOMA: Visual Mobile Marker Odometry

The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…

In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…

This paper presents an algorithm and the implementation of a motor schema to aid the visual localization subsystem of the ongoing EMILY project at Texas A and M University. The EMILY project aims to team an Unmanned Surface Vehicle (USV)…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything…

Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…

Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…

Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…

A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…

Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…

This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…