Research online: Robust tightly coupled GNSS/INS estimation for navigation

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The evolution of airborne mapping witnesses the introduction of hybrid lidar-camera systems to enhance data collection, i.e. to obtain simultaneously high-density point-cloud and texture. Yet, the common adjustment of both optical data streams is a nontriv ...

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

We study the problem of learning unknown parameters in stochastic interacting particle systems with polynomial drift, interaction, and diffusion functions from the path of one single particle in the system. Our estimator is obtained by solving a linear sys ...

Decision-making permeates every aspect of human and societal development, from individuals' daily choices to the complex decisions made by communities and institutions. Central to effective decision-making is the discipline of optimization, which seeks th ...

The p-Laplacian problem -del & sdot; ((mu + |del u|(p-2))del u) = f is considered, where mu is a given positive number. An anisotropic a posteriori residual-based error estimator is presented. The error estimator is shown to be equivalent, up to higher ord ...

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

Autonomous navigation of drones in environments with intermittently poor reception of Global Navigation Satellite System (GNSS)-observables remains a complex problem when using small, low-cost inertial sensors. Conventional kinematic frameworks, fusing Ine ...

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

We propose a novel approach to evaluating the ionic Seebeck coefficient in electrolytes from relatively short equilibrium molecular dynamics simulations, based on the Green-Kubo theory of linear response and Bayesian regression analysis. By exploiting the ...

We propose an interpretable model to score the subjective bias present in documents, based only on their textual content. Our model is trained on pairs of revisions of the same Wikipedia article, where one version is more biased than the other. Although pr ...

. All rights reserved.Background: Wrist-worn inertial sensors are used in digital health for evaluating mobility in real-world environments. Preceding the estimation of spatiotemporal gait parameters within long-term recordings, gait detection is an import ...

The increasing availability of sensing techniques provides a great opportunity for engineers to design state estimation methods, which are optimal for the system under observation and the observed noise patterns. However, these patterns often do not fulfil ...

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

Recent cosmic shear studies have shown that higher-order statistics (HOS) developed by independent teams now outperform standard two-point estimators in terms of statistical precision thanks to their sensitivity to the non-Gaussian features of large-scale ...

Despite the importance and pervasiveness of Wikipedia as one of the largest platforms for open knowledge, surprisingly little is known about how people navigate its content when seeking information. To bridge this gap, we present the first systematic large ...

An a posteriori error estimator based on an equilibrated flux reconstruction is proposed for defeaturing problems in the context of finite element discretizations. Defeaturing consists in the simplification of a geometry by removing features that are consi ...

We present a framework for performing regression when both covariate and response are probability distributions on a compact and convex subset of

\R^d

. Our regression model is based on the theory of optimal transport and links the conditional Fr'echet m ...

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

Research online: Robust tightly coupled GNSS/INS estimation for navigation

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On the Perspectives of Image-to-Lidar Constraints in Dynamic Network Optimisation

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

A Method of Moments Estimator for Interacting Particle Systems and their Mean Field Limit

Reliable data-driven decision-making through optimal transport

Anisotropic Adaptive Finite Elements for a p-Laplacian Problem

Aerodynamic modeling of a delta-wing UAV for model-based navigation

Stability: a search for structure

Identification and Integration of Aerodynamics into Fixed-Wing Drone Navigation

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Seebeck Coefficient of Ionic Conductors from Bayesian Regression Analysis

It’s All Relative: Learning Interpretable Models for Scoring Subjective Bias in Documents from Pairwise Comparisons

Real-World Gait Detection Using a Wrist-Worn Inertial Sensor: Validation Study

Regularization for distributionally robust state estimation and prediction

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Euclid preparation: XXVIII. Forecasts for ten different higher-order weak lensing statistics

A Large-Scale Characterization of How Readers Browse Wikipedia

An equilibrated flux a posteriori error estimator for defeaturing problems

Distributional Regression and Autoregression via Optimal Transport

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait