相关论文: Collaborative Localization for Micro Aerial Vehicl…

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…

To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction…

This work details the problem of aerial target capture using multiple UAVs. This problem is motivated from the challenge 1 of Mohammed Bin Zayed International Robotic Challenge 2020. The UAVs utilise visual feedback to autonomously detect…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…

Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…

Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…

Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…

6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…

Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem…

Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…

This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on…

Wireless localization is a key requirement for many applications. It concerns position estimation of mobile nodes (agents) relative to fixed nodes (anchors) from wireless channel measurements. Cooperative localization is an advanced concept…

Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…

In autonomous driving, using a variety of sensors to recognize preceding vehicles in middle and long distance is helpful for improving driving performance and developing various functions. However, if only LiDAR or camera is used in the…

Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

This paper addresses the problem of target search and tracking using a fleet of cooperating UAVs evolving in some unknown region of interest containing an a priori unknown number of moving ground targets. Each drone is equipped with an…

A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…