UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset
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Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...
EPFL2021
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A relatively novel approach of autonomous navigation employing platform dynamics as the primary process model raises new implementational challenges. These are related to: (i) potential numerical instabilities during longer flights; (ii) the quality of mod ...
2023
This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...
EPFL2024
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Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic e ...
In recent years, many approaches to visual-inertial odometry (VIO) have become available. However, they neither exploit the robot's dynamics and known actuation inputs, nor differentiate between the desired motion due to actuation and the unwanted perturba ...
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation. This paper introdu ...
The aim of this project was to assemble, interconnect, and program a group of ground robots. The objective of the robot control is to cooperatively complete a set of tasks where each task represents a goal location that needs to be visited. For the hardwar ...
The real-time estimation through vision of the physical properties of objects manipulated by humans is important to inform the control of robots for performing accurate and safe grasps of objects handed over by humans. However, estimating the 3D pose and d ...
Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...
Over the past years, the field of small unmanned aerial vehicles has grown significantly and several applications have appeared, requiring always more autonomous flight. An important remaining challenge for fully autonomous unmanned aerial vehicles is coll ...