4 accepted papers
Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires tremendous resources and time. This is especially true when the environmental features of interest are spatiotemporally changing with unknown or partially known dynamics. Fortunately, these d…
We present the concept of concurrent flow-based localization and mapping (FLAM) for autonomous field robots navigating within background flows. Different from the classical simultaneous localization and mapping (SLAM) problem, where the robot interacts with discrete features, FLAM utilizes the conti…
This letter demonstrates the feasibility of near realtime, plenoptic-inertial navigation on a low-cost central processing unit (CPU). To enable real-time operation, a standard plenoptic camera was modeled as a system of stereo cameras and triangulation was used to estimate its pose from a minimal se
Navigation for autonomous underwater vehicles (AUVs) in mid-depth water column is notoriously challenging due to the lack of features for reference. In this paper, we propose a flow-aided cooperative navigation (FACON) strategy to improve the navigation performance of a team of AUVs when neither fre…