7 accepted papers
This paper introduces an artificial intelligence-based landing zone detection module (LZDM) for vertical take-off and landing (VTOL) navigation. It employs a projection-based point cloud semantic segmentation (PCSS) convolutional neural network model combined with point cloud accumulation and a rang…
This study investigates the effectiveness of a passive tightly coupled ultra-wideband (UWB) based inertial navigation system for indoor positioning of mobile platforms. Unlike conventional methods that rely on time difference of arrival (TDOA) or two-way ranging (TWR) measurements, the proposed appr…
This paper presents the design of an Interacting Multiple Model (IMM) filter for improved navigation performance of Micro Aerial Vehicles (MAVs). The paper considers a navigation system that incorporates rotor drag dynamics and proposes a strategy to overcome the sensitivity of the system to externa…
This paper presents the development of a Kalman filter-based range estimation technique to precisely calculate the inter-node ranges of Ultra Wide Band (UWB) modules. Relative clock tracking filters running between every anchor pair tracks relative clock dynamics while estimating the time of flight…
This paper presents a prototype of an automated seedling height assessment system for tree nurseries. The proposed system can acquire and store real-time 3D point-cloud data of seedlings; and perform offline identification, measurement, and report generation of seedling heights with an overall syste…
This study performs a nonlinear observability analysis on range assisted inertial navigation system (INS) for quadrotor micro-aerial vehicles (MAV). The INS is formulated incorporating the quadrotor dynamics with aerodynamic drag forces. The observability analysis is carried out for cases where thre…
The main reported solutions for the problem of multi-robot relative localization require synchronous communication between robots, where the network should communicate each time a relative measurement is logged in the team. This paper proposes a localization method, which can accommodate communicati…