相关论文: MoRPI: Mobile Robot Pure Inertial Navigation
Modern canine applications span medical and service roles, while robotic legged dogs serve as autonomous platforms for high-risk industrial inspection, disaster response, and search and rescue operations. For both, accurate positioning…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then requires reasoning about this true geometry, yet most local…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
We propose iMoT, an innovative Transformer-based inertial odometry method that retrieves cross-modal information from motion and rotation modalities for accurate positional estimation. Unlike prior work, during the encoding of the motion…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path planning and local path following with obstacle avoidance. For…
An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then…
This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…
Navigation systems are used daily. While different types of navigation systems exist, inertial navigation systems (INS) have favorable properties for some wearables which, for battery and form factors may not be able to use GPS. Earables…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…