相关论文: Continuum Robot Localization using Distributed Tim…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
This paper presents a trustworthy framework for achieving accurate cooperative localization in multiple unmanned aerial vehicle (UAV) systems. The The Cramer-Rao Lower Bound (CRLB) for the three-dimensional (3D) cooperative localization…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
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 presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…
This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system {(MQS) to assure safety and optimality of the quadcopter team coordination in the presence of position uncertainty. We first…
Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…