11 accepted papers
This letter presents a novel deep-learning-based solution to the problem of quadrotor inertial navigation. Visual-inertial odometry (VIO) is often used for quadrotor pose estimation, where an inertial measurement unit (IMU) provides a motion prior. When VIO fails, IMU dead reckoning is often used, w
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a systematic error or bias that must be corrected for high-accuracy lo…
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromag-netic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, mag-netic field data is often omitted from navigation algorithms in in…
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mainstream in the robotics community, and hence estimation prototyping tools should allow state definitions that belong to ma…
In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of inter-robot range measurements is investigated. Specifically,…
It is often convenient to separate a state estimation task into smaller “local” tasks, where each local estimator estimates a subset of the overall system state. However, neglecting cross-covariance terms between state estimates can result in overconfident estimates, which can ultimately degrade the
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based heading estimation difficult. Ultra-wideband (UWB) transceivers
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x, y, z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and, unlike spherical coordinates, the proposed coordinates do n…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for determining the three-dimensional relative position between
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to technologies such as ultra-wideband radio. However, the task o
The complex-step derivative approximation is a numerical differentiation technique that can achieve analytical accuracy, to machine precision, with a single function evaluation. In this letter, the complex-step derivative approximation is extended to be compatible with elements of matrix Lie groups.