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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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07/10/2023
Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning
Correcting gradual position drift is a challenge in long-term subsea nav...
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05/11/2023
Adaptive Graduated Nonconvexity Loss
Many problems in robotics, such as estimating the state from noisy senso...
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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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03/27/2023
Closed-Loop Koopman Operator Approximation
The Koopman operator allows a nonlinear system to be rewritten as an inf...
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01/05/2023
Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended)
Accurate, self-consistent bathymetric maps are needed to monitor changes...
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12/13/2022
Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version)
Estimation algorithms, such as the sliding window filter, produce an est...
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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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09/26/2022
Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments
The recent development of high-precision subsea optical scanners allows ...
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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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06/18/2022
Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
Measurement outliers are unavoidable when solving real-world robot state...
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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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10/18/2021
System Norm Regularization Methods for Koopman Operator Approximation
Approximating the Koopman operator from data is numerically challenging ...
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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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05/28/2021
Finite-Horizon LQR Control of Quadrotors on SE_2(3)
This paper considers optimal control of a quadrotor unmanned aerial vehi...
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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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04/30/2021
Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation
This paper considers the use of two position receivers and an inertial m...
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03/07/2021
Cascaded Filtering Using the Sigma Point Transformation (Extended Version)
It is often convenient to separate a state estimation task into smaller ...
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02/06/2021
