相关论文: Hardware-in-the-Loop for Characterization of Embed…
Autonomous nano-drones (~10 cm in diameter), thanks to their ultra-low power TinyML-based brains, are capable of coping with real-world environments. However, due to their simplified sensors and compute units, they are still far from the…
Autonomous drones are rapidly reshaping industries ranging from aerial delivery and infrastructure inspection to environmental monitoring and disaster response. Ensuring the safety, reliability, and efficiency of these systems is paramount…
Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…
The rapid growth of connected and automated vehicle (CAV) solutions have made a significant impact on the safety of intelligent transportation systems. However, similar to any other emerging technology, thorough testing and evaluation…
Rail and wheel interaction functionality is pivotal to the railway system safety, requiring accurate measurement systems for optimal safety monitoring operation. This paper introduces an innovative onboard measurement system for monitoring…
Modern industrial systems require updated approaches to safety management, as the tight interplay between cyber-physical, human, and organizational factors has driven their processes toward increasing complexity. In addition to dealing with…
Stability of flapping flight, a natural requirement for flying insects, is one of the major challenges for designing micro aerial vehicles (MAVs). To better understand how a flying insect could stabilize itself during hover, we have…
Nowadays unmanned aerial vehicles (UAVs) are being widely applied to a wealth of civil and military applications. Robust and high-throughput wireless communication is the crux of these UAV applications. Yet, air-to-ground links suffer from…
The advances in agile micro aerial vehicles (MAVs) have shown great potential in replacing humans for labor-intensive or dangerous indoor investigation, such as warehouse management and fire rescue. However, the design of a state estimation…
Among algorithms used for sensor fusion for attitude estimation in unmanned aerial vehicles, the Extended Kalman Filter (EKF) is the most commonly used for estimation. In this paper, we propose a new version of H2 estimation called extended…
The accurate Attitude Heading Reference System(AHRS) is an important apart of the UAV reliable flight system. Aiming at the application scenarios of near ground navigation of small-UAV, this paper establishes a loose couple error model of…
Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
The ultimate research goal for unmanned aerial vehicles (UAVs) is to facilitate autonomy of operation. Research in the last decade has highlighted the potential of vision sensing in this regard. Although vital for accomplishment of missions…
Fast and Relaxed Vector Fitting (FRVF) is a frequency-domain system identification approach that has been widely adopted in electrical system modelling, while its application to mechanical systems has remained relatively unexplored. In this…
Precise vehicle state estimation is crucial for safe and reliable autonomous driving. The number of measurable states and their precision offered by the onboard vehicle sensor system are often constrained by cost. For instance, measuring…
MCSM is a recently proposed novel system concept to solve the massive access problem envisioned in future communication systems like 5G and industry 4.0 systems. This work focuses on the practical verification of the theoretical gains that…
This paper proposes an autopilot system that can be used to control the small scale rotorcraft during the flight test for linear-frequency-domain system identification. The input frequency swept is generated automatically as part of the…
This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many…