Publications related to Reliable strategies for implementing model-based navigation on fixed-wing drones

Related publications (33)

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

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 ...

EPFL2024

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

Jan Skaloud, Aman Sharma, Gabriel François Laupré

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 ...

2024

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

Gabriel François Laupré

The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes

Omar Garcia Crespillo

Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. Over the last decade, significant effort has been put to guarantee a bounded position estimation by using Global Navigation Satellite Systems (GNSS) ...

EPFL2022

The Debiased Spatial Whittle likelihood

Sofia Charlotta Olhede

We provide a computationally and statistically efficient method for estimating the parameters of a stochastic covariance model observed on a regular spatial grid in any number of dimensions. Our proposed method, which we call the Debiased Spatial Whittle l ...

WILEY2022

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Jan Skaloud, Gabriel François Laupré

Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...

2021

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen

This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...

Springer Nature2021

Empirical analysis of large-scale multimodal traffic with multi-sensor data

Nikolaos Geroliminis, Nan Zheng

Recent advances in the network-level traffic flow modelling provide an efficient tool for analyzing traffic performance of large-scale networks. A relationship between density and flow at the network level is developed and widely studied, namely the macros ...

PERGAMON-ELSEVIER SCIENCE LTD2020

UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Dario Floreano, Fabrizio Schiano

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely. Motion ca ...

2020

X-ray pulsar-based GNC system for formation flying in high Earth orbits

Volker Gass, Camille Sébastien Pirat

In this paper, comprehensive pulsar-based Guidance, Navigation and Control (GNC) system is designed and applied to satellites formation flying. The complete autonomy of the X-ray pulsar navigation technology provides both absolute and relative positioning ...

PERGAMON-ELSEVIER SCIENCE LTD2020

Institutions and Incentives in Knowledge Production and Diffusion: From Science to Innovation

Charles Chadi Ayoubi

This thesis presents four essays providing novel empirical and theoretical insights on the incentives and institutional structures that favor knowledge production and diffusion. The first two studies analyze these processes in the realm of scientific resea ...

EPFL2020

Quantifying uncertain system outputs via the multilevel Monte Carlo method — Part I: Central moment estimation

Fabio Nobile, Sebastian Krumscheid, Michele Pisaroni

In this work we introduce and analyze a novel multilevel Monte Carlo (MLMC) estimator for the accurate approximation of central moments of system outputs affected by uncertainties. Central moments play a central role in many disciplines to characterize a r ...

2020

Distributed State Estimation and Control of Autonomous Quadrotor Formations Using Exclusively Onboard Resources

Duarte Da Cruz Baptista Dias

The navigation of unmanned aerial vehicles operating in environments without global positioning systems, including global navigation satellite systems and motion capture systems, is a recent research topic, without much work reported in the literature. In ...

EPFL2019

Calibration Aspects of INS Navigation

Philipp Clausen

The use of a Bayesian filter (e.g., Kalman filter) for the fusion of information from satellite positioning and inertial navigation is a common approach in many applications, where the knowledge of position, velocity, and attitude in space are of great int ...

EPFL2019

Pedestrian Image Generation for Self-driving Cars

Alexandre Massoud Alahi, Saeed Saadatnejad

Pedestrian image generation in the desired pose can be used in a wide range of applications e.g., person re-identification and tracking which are among the fundamental challenges in self-driving cars. This is a hard task because it should be invariant to a ...

2019

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

Proper modeling of stochastic errors in inertial sensors plays a crucial role in the achievable quality of GNSS-INS integration especially with low-cost inertial sensors. Generalized Method of Wavelet Moments (GMWM) can model the underlying process for suc ...

2019

Resilience and agency in mature sustainability transitions. Theoretical conceptualisation and empirical analysis of actor- & system-level dynamics in sociotechnical energy systems

Susan Marie Mühlemeier

In Switzerland, Germany and Austria, as in many European countries, the transition of the energy sector towards more sustainability is a long-term transition process, unfolding since decades. It however only reached the regime level in recent years and the ...

EPFL2019

When Sheep Shop: Measuring Herding Effects in Product Ratings with Natural Experiments

Robert West, Gael Lederrey

As online shopping becomes ever more prevalent, customers rely increasingly on product rating websites for making purchase decisions. The reliability of online ratings, however, is potentially compromised by the so-called herding effect: when rating a prod ...

2018

VDM-based UAV Attitude Determination in Absence of IMU Data

Jan Skaloud, Mehran Khaghani

The capability of a previously proposed VDM (vehicle dynamic model) based navigation method for UAVs is assessed in attitude determination without IMU data. This method utilizes the VDM as main process model within the navigation filter and treats data fro ...

IEEE2018