5 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
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a "high-coverage" infrastructure-inspection formation, while maintaining high relative pose estimation accuracy. The overall cost function balances the need…
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…
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,…