相关论文: An improved FastEuler-DLKF small-UAV AHRS algorith…

Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear.…

The present work deals with a new passive system for real-time detection, classification and direction of arrival estimator of Unmanned Aerial Vehicles (UAVs). The proposed system composed of a very low cost hardware components, comprises…

We address the problem of observation noise misspecification in Bayesian filtering of dynamical systems via recent advances in generalised Bayesian inference. Mis-match in tail decay between the true data generating process and an assumed…

This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…

The employment of unmanned aerial vehicles (UAVs) in the lowaltitude economy necessitates precise and real-time radio maps for reliable communication and safe navigation. However, constructing such maps is hindered by the infeasibility of…

This paper is the second part of a series of studies discussing a novel attitude determination method for nano-satellites. Our approach is based on the utilization of thermal imaging sensors to determine the direction of the Sun and the…

Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However, commercial-grade GNSS receivers introduce unknown…

Traditional framework of discriminative correlation filters (DCF) is often subject to undesired boundary effects. Several approaches to enlarge search regions have been already proposed in the past years to make up for this shortcoming.…

We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

Unmanned aerial vehicles (UAVs) are widely used due to their low cost and versatility, but they also pose security and privacy threats. Therefore, reliable detection for low-altitude UAVs is an important issue. The strong ground clutter…

Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…

Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…

LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

In millimeter-wave (mmWave) systems, beamforming is needed to overcome harsh channel environments. As a promising beamforming solution, lens antenna array (LAA) implementation can provide a cost-effective solution without notable…

This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…

This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…

Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…

The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…