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09/05/2023
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Indoor magnetic fields are a combination of Earth's magnetic field and d...
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04/08/2023
On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration
This paper addresses the problem of decentralized, collaborative state e...
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04/07/2023
Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers
Ultra-wideband (UWB) systems are becoming increasingly popular as a mean...
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11/01/2022
Reducing Two-Way Ranging Variance by Signal-Timing Optimization
Time-of-flight-based range measurements among transceivers with differen...
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10/12/2022
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoo...
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07/16/2022
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
The ability to accurately estimate the position of robotic agents relati...
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05/27/2022
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
In multi-robot missions, relative position and attitude information betw...
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02/02/2022
Ultra-Wideband Teach and Repeat
Autonomously retracing a manually-taught path is desirable for many appl...
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09/19/2021
Localization with Directional Coordinates
A coordinate system is proposed that replaces the usual three-dimensiona...
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09/10/2021
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
It is essential that a robot has the ability to determine its position a...
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05/06/2021
The Complex-Step Derivative Approximation on Matrix Lie Groups
The complex-step derivative approximation is a numerical differentiation...
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03/07/2021
