Vision-aided inertial navigation system for robotic mobile mapping

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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 ...

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 ...

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 ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Eusocial life is characterized by division of labour, collective decision making and self organization, and regarded as the highest form of social organisation in groups. Ants are a model organism for research in collective behavior and the evolution of eu ...

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

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 ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

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 ...

In airborne laser scanning a high-frequency trajectory solution is typically determined from inertial sensors and employed to directly geo-reference the acquired laser points. When low-cost MEMS inertial sensors are used, such as in lightweight unmanned ae ...

Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and ...

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation. This paper introdu ...

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 ...

Loop closure detection helps simultaneous localization and mapping systems reduce map and state uncertainty via recognizing previously visited places along the path of a mobile robot. However, visual loop closure detection is susceptible to scenes with dyn ...

The estimation of the orientation of an object, and a human head in particular, can be defined by the Euler angles: the yaw, pitch and roll. The robust and drift-free estimation of those angles is usually achieved with the data from several sensors such as ...

The ability to forecast human motion, called ``human trajectory forecasting", is a critical requirement for mobility applications such as autonomous driving and robot navigation. Humans plan their path taking into account what might happen in the future. S ...

Automatic control design for robotic systems is becoming more and more popular. However, this usually involves a significant computational cost, due to the expensive and noisy evaluation of candidate solutions through highfidelity simulation or even real h ...

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) ...

Vision-aided inertial navigation system for robotic mobile mapping

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

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

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

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

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

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

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

On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data

Navigation of Concentric Tube Continuum Robots using Optimal Control

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Blind as a Bat: Audible Echolocation on Small Robots

VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems

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

PlaceNet: A multi-scale semantic-aware model for visual loop closure detection

Human Head Yaw Estimation based on Two 3-axis Accelerometers

Deep Learning Methods for Socially-Aware Human Trajectory Forecasting

Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers

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