相关论文: Optimal Spatial-Temporal Triangulation for Bearing…

This paper studies the distributed state estimation problem for a class of discrete time-varying systems over sensor networks. Firstly, it is shown that a networked Kalman filter with optimal gain parameter is actually a centralized filter,…

Cooperative communication using unmanned aerial vehicles (UAVs) is a promising technology for infrastructureless wireless networks. One of the key challenges in UAV based communications is the backhaul throughput. In this paper, we propose…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…

An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

The collaborative visual perception of multiple Unmanned Aerial Vehicles (UAVs) has increasingly become a research hotspot. Compared to a single UAV equipped with a short-baseline stereo camera, multi-UAV collaborative vision offers a wide…

In this paper, we develop a socially cooperative optimal control framework to address the motion planning problem for connected and automated vehicles (CAVs) in mixed traffic using social value orientation (SVO) and a potential game…

In this paper, a distributed Kalman filtering (DKF) algorithm is proposed based on a diffusion strategy, which is used to track an unknown signal process in sensor networks cooperatively. Unlike the centralized algorithms, no fusion center…

This paper presents a novel tightly-coupled monocular visual-inertial Simultaneous Localization and Mapping algorithm, which provides accurate and robust localization within the globally consistent map in real time on a standard CPU. This…

This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…

This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…

Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies…

This paper is devoted to the distributed continuous-time optimization problem with time-varying objective functions and time-varying nonlinear inequality constraints. Different from most studied distributed optimization problems with…

This paper investigates the distributed Kalman filter (DKF) for linear systems, with specific attention on measurement fusion, which is a typical way of information sharing and is vital for enhancing stability and improving estimation…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…

Efficiency has been a critical problem in UAV tracking due to limitations in computation resources, battery capacity, and unmanned aerial vehicle maximum load. Although discriminative correlation filters (DCF)-based trackers prevail in this…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…