相关论文: LoRa Backscatter Assisted State Estimator for Micr…

Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they face challenges in terms of sparsity and noise…

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…

We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading…

Reinforcement learning (RL) has been a promising essence in future 5G-beyond and 6G systems. Its main advantage lies in its robust model-free decision-making in complex and large-dimension wireless environments. However, most existing RL…

Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total mass inside the aeroshell by more than 100 kg and simplifies…

Micro aerial vehicles (MAVs) hold the potential for performing autonomous and contactless land surveys for the detection of landmines and explosive remnants of war (ERW). Metal detectors are the standard detection tool but must be operated…

The spherically invariant random process (SIRP) clutter model is commonly used in scenarios where the radar clutter cannot be correctly modeled as a Gaussian process. In this short communication, we devise a novel Maximum-Likelihood…

Autonomous navigation across unstructured terrains, including forests and construction areas, faces unique challenges due to intricate obstacles and the element of the unknown. Lacking pre-existing maps, these scenarios necessitate a motion…

This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration…

Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…

This paper considers the problem of remote state estimation for Markov jump linear systems in the presence of uncertainty in the posterior mode probabilities. Such uncertainty may arise when the estimator receives noisy or incomplete…

In this paper, we explore the application of Unmanned Aerial Vehicles (UAVs) in maritime search and rescue (mSAR) missions, focusing on medium-sized fixed-wing drones and quadcopters. We address the challenges and limitations inherent in…

Autonomous landing systems for Micro Aerial Vehicles (MAV) have been proposed using various combinations of GPS-based, vision, and fiducial tag-based schemes. Landing is a critical activity that a MAV performs and poor resolution of GPS,…

We propose an alternative method to generate an artificial reference source for a Ground Layer Adaptive Optics system airborne on a Multirotor Unmanned Aerial Vehicle. Turbulence profiles from the Ground Layer at the National Astronomical…

Optical imaging through scattering media is an important challenge in a variety of fields ranging from microscopy to autonomous vehicles. While advanced wavefront shaping techniques have offered significant breakthroughs in the past decade,…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

Existing approaches for image-based Automatic Meter Reading (AMR) have been evaluated on images captured in well-controlled scenarios. However, real-world meter reading presents unconstrained scenarios that are way more challenging due to…

This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…

High-definition (HD) maps are essential for autonomous driving, as they provide precise road information for downstream tasks. Recent advances highlight the potential of temporal modeling in addressing challenges like occlusions and…

Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven…