State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping. There are three main challenges for MAV state estimation: (1) it can deal...
This paper presents a non-linear state observer-based integrated navigation scheme for estimating the attitude, position and velocity of micro aerial vehicles (MAV) operating in GPS-denied indoor environments, using the measurements from low-cost MEM...
With the rapid development of Unmanned Aerial Vehicle (UAV) systems, the autonomous landing of a UAV on a moving Unmanned Ground Vehicle (UGV) has received extensive attention as a key technology. At present, this technology is confronted with such p...
This article proposes a novel approach to the Distributed State Estimation (DSE) problem for a set of co-operating UAVs equipped with heterogeneous on board sensors capable of exploiting certain characteristics typical of the UAS Traffic Management (...
The application of unmanned vehicles in civilian and military fields is increasingly widespread. Traditionally, unmanned vehicles primarily rely on Global Positioning Systems (GPSs) for positioning; however, GPS signals can be limited or completely l...
This paper describes the deployment, integration, and demonstration of a Smartphone Video Guidance Sensor (SVGS) as a novel technology for autonomous 6-DOF proximity maneuvers and precision landing of a quadcopter drone. The proposed approach uses a...
Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS)...
This paper considers the self-localization of a tethered drone without using a cable-tension force sensor in GPS-denied environments. The original problem is converted to a state-estimation problem, where the cable-tension force and the three-dimensi...
Information fusion from multiple sensors ensures the accuracy and robustness of a navigation system, especially in the absence of global positioning system (GPS) data which gets degraded in many cases. A way to deal with multi-mode estimation for a s...
This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environmen...
Accurate estimation of accelerometer biases in Inertial Measurement Units (IMUs) is crucial for reliable Unmanned Aerial Vehicle (UAV) navigation, particularly in GPS-denied environments. Uncompensated biases lead to an unbounded accumulation of posi...
Simultaneous localization and mapping (SLAM) has a wide range for applications in mobile robotics. Lightweight and inexpensive vision sensors have been widely used for localization in GPS-denied or weak GPS environments. Mobile robots not only estima...
One of the main challenges of aerial robots navigation in indoor or GPS-denied environments is position estimation using only the available onboard sensors. This paper presents a Simultaneous Localization and Mapping (SLAM) system that remotely calcu...
Autonomous navigation in greenhouses requires agricultural robots to localize and generate a globally consistent map of surroundings in real-time. However, accurate and robust localization and mapping are still challenging for agricultural robots due...
Unmanned aerial vehicles (UAVs) must keep track of their location in order to maintain flight plans. Currently, this task is almost entirely performed by a combination of Inertial Measurement Units (IMUs) and reference to GNSS (Global Navigation Sate...
Autonomous technologies have revolutionized transportation, military operations, and space exploration, necessitating precise localization in environments where traditional GPS-based systems are unreliable or unavailable. While widespread for outdoor...
In GPS-denied indoor environments, localization and tracking of people can be achieved with a mobile device such as a smartphone by processing the received signal strength (RSS) of RF signals emitted from known location beacons (anchor nodes), combin...
The gradual integration of Manned–Unmanned Teaming (MUM-T) is gaining increasing significance. An intriguing feature is the ability to do relative estimation solely through the use of the INS/GPS system. However, in certain environments, such a...
Magnetic, angular rate, and gravity (MARG) sensor-based inference is the de facto standard for mobile robot pose estimation, yet its sensor limitations necessitate fusion with absolute references. In environments where such references are unavailable...
With the increasing demand for autonomous systems in the field of inspection, the use of unmanned aerial vehicles (UAVs) to replace human labor is becoming more frequent. However, the Global Positioning System (GPS) signal is usually denied in enviro...
To obtain autonomy in applications that involve Unmanned Aerial Vehicles (UAVs), the capacity of self-location and perception of the operational environment is a fundamental requirement. To this effect, GPS represents the typical solution for determi...
The autonomous navigation of unmanned vehicles in GPS denied environments is an incredibly challenging task. Because cameras are low in price, obtain rich information, and passively sense the environment, vision based simultaneous localization and ma...