相关论文: Line-of-Sight Deep-Space Autonomous Navigation
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level…
Unmanned vehicle navigation concerns estimating attitude, position, and linear velocity of the vehicle the six degrees of freedom (6 DoF). It has been known that the true navigation dynamics are highly nonlinear modeled on the Lie Group of…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
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…
Because of the communication delay between earth and moon, the GNC technology of lunar probe is becoming more important than ever. Current navigation technology is not able to provide precise motion estimation for probe landing control…
Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…
A close partnership between people and partially autonomous machines has enabled decades of space exploration. But to further expand our horizons, our systems must become more capable. Increasing the nature and degree of autonomy - allowing…
Including terrain in atmospheric models gives rise to mesh distortions near the lower boundary that can degrade accuracy and challenge the stability of transport schemes. Multidimensional transport schemes avoid splitting errors on…
Road grade can impact the energy efficiency, safety, and comfort associated with automated vehicle control systems. Currently, control systems that attempt to compensate for road grade are designed with one of two assumptions. Either the…
Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
A remote-sensing system that can determine the position of hidden objects has applications in many critical real-life scenarios, such as search and rescue missions and safe autonomous driving. Previous work has shown the ability to range…
Non-Line-of-Sight (NLOS) imaging reconstructs the shape and depth of hidden objects from picosecond-resolved transient signals, offering potential applications in autonomous driving, security, and medical diagnostics. However, current NLOS…
Autonomous driving is becoming one of the leading industrial research areas. Therefore many automobile companies are coming up with semi to fully autonomous driving solutions. Among these solutions, lane detection is one of the vital…
The trend toward onboard autonomy and spacecraft minimization present significant potential for advances in efficient Line of Sight management by making optimal use of the limited torque resources available. At SENER Aeroespacial, we are…
This paper presents the development of a Simultaneous Localization and Mapping (SLAM) based Autonomous Navigation system. The motivation for this study was to find a solution for navigating interior spaces autonomously. Interior navigation…