3 accepted papers
This paper introduces the Compartmentalized Covariance Intersection (CCI) algorithm, a consistent technique to fuse measurements in cooperative navigation networks. The algorithm reduces the excess conservatism of standard Covariance Intersection (CI) by assuming that correlation is only present wit…
This paper presents a novel filter architecture that allows a team of vehicles to collaboratively localize using Terrain Relative Navigation (TRN). The work explores several causes of measurement correlation that preclude the use of traditional estimators, and proposes an estimator structure that el…
This paper develops a coverage-centric adaptive path planner to visually survey a planar environment. This is achieved by modifying an existing path planning architecture to use a novel coverage estimation approach called convolved coverage estimation (CCE). The planner maximizes the probability of…