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

In the detection of gravitational waves in space, during the science phase of the mission, the point ahead angle mechanism (PAAM) serves to steer a laser beam to compensate for the angle generated by the relative motion of the two…

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…

Heterogeneous sensor setups may entail measurements recorded at varying sampling frequencies, commonly known as multi-rate data. For system identification and state estimation with such data, existing studies mostly focus on data fusion…

Atrial fibrillation (AF) is a common cardiac arrhythmia characterised by disordered electrical activity in the atria. The standard treatment is catheter ablation, which is invasive and irreversible. Recent advances in computational…

This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…

Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

Visual detection of Unmanned Aerial Vehicles (UAVs) is a critical task in surveillance systems due to their small physical size and environmental challenges. Although deep learning models have achieved significant progress, deploying them…

Unmanned Aerial Vehicles (UAVs) have significantly enhanced fog computing by acting as both flexible computation platforms and communication mobile relays. In this paper, we consider four important and interdependent modules: attitude…

Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks,…

The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…

The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…

Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions, degrade inertial observability and cause frequent tracking…

This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…

We develop a method for estimating the instantaneous lift coefficient on a rapidly pitching airfoil that uses a small number of pressure sensors and a measurement of the angle of attack. The approach assimilates four surface pressure…

Rotor-based hopping locomotion significantly improves efficiency and operation time as compared to purely flying systems; where most hopping robots use the liftoff states and an assumed ballistic trajectory to determine the hopping height.…

The rapid growth of unmanned aerial vehicles (UAVs) in civilian and critical-infrastructure airspace has created a need for reliable detection and tracking systems that operate under diverse environmental and sensing conditions. This paper…