相关论文: Cooperative Integrated Estimation-Guidance for Sim…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
The detection of non-cooperative unmanned aerial vehicles (UAVs) presents significant challenges for Integrated Sensing and Communication (ISAC) systems due to the inherent limitations of single-modal perception and the competition for…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
This work proposes a novel cooperative transportation framework for multi-agent systems that does not require any prior knowledge of cargo locations or sizes. Each agent relies on local sensing to detect cargos, recruit nearby agents, and…
How to realize high-level autonomy of individuals is one of key technical issues to promote swarm intelligence of multi-agent (node) systems with collective tasks, while the fully distributed design is a potential way to achieve this goal.…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
We present a general framework for improving and extending GNSS-based positioning by leveraging opportunistic measurements from legacy terrestrial radio signals. The proposed approach requires only that participating nodes collect and share…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
This paper presents a methodology for optimal target detection in a multi sensor surveillance system. The system consists of mobile sensors that guard a rectangular surveillance zone crisscrossed by moving targets. Targets percolate the…
We consider a power-constrained sensor network, consisting of multiple sensor nodes and a fusion center (FC), that is deployed for the purpose of estimating a common random parameter of interest. In contrast to the distributed framework,…
We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we…