This paper compares the performance of open-loop and closed-loop filters in inertial navigation systems using simulations.

This paper evaluates two approaches for maintaining safe separation between small Unmanned Aircraft Systems (sUAS) in urban environments with degraded Global Navigation Satellite System (GNSS) signals…

This paper proposes a Fisher information density (FID)-constrained trajectory sharing scheme for robot collision avoidance under GDPR regulations, achieving better privacy-utility tradeoff than fixed-…

This paper derives the Cramer-Rao lower bound for 3D localization in UAV-assisted ISAC systems and validates the results through simulations.

This paper introduces a nonlinear, actuator-aware safety filter for 3D Gaussian Splatting (3DGS) based on full quadrotor dynamics, reducing trajectory jerk by 47% and running 2.25 times faster than ex…

This tutorial-style review focuses on kinematics of inertial measurement units (IMUs) for human motion capture and introduces methods to determine adequate formulations for sensor measurements.

The paper proposes an uncertainty-aware, decentralized fusion layer for multi-UAV systems that significantly improves 3D localization robustness by incorporating neighbor constraints and handling faul…

This paper presents a new modular architecture for NeoSLAM using modern frameworks, achieving real-time execution and minimal data discarding. It also compares NeoSLAM and RatSLAM across three dataset…

The paper proposes the Frequency-Weighted Neural Kalman Filter (FW-NKF), a hybrid approach that improves state estimation for robotics by explicitly suppressing frequency-dependent noise components in…

Proposed an asynchronous block coordinate descent algorithm for distributed trajectory estimation in robotics, reducing communications by up to 96.9% and achieving exponential convergence.

This paper proposes a hybrid TRP-UE sensing mechanism for Integrated Sensing and Communication (ISAC) systems to improve network-based sensing performance in challenging indoor factory environments.

This paper proposes using an Unscented Kalman Filter (UKF) for accurate wind estimation in quadrotor UAVs, outperforming the Extended Kalman Filter (EKF) in highly nonlinear scenarios.

This paper expands the Quality of Control (QoC) framework to address network-induced uncertainties in collaborative robotics, validating the models through experiments on a private 5G testbed.

This paper derives Cramér-Rao lower bounds for cooperative MIMO integrated sensing and communication networks, considering position and velocity coupling in the Fisher information matrix.

This paper presents a two-stage recovery approach for camera-only low-cost unmanned ground vehicles to restore guideline tracking when lines are lost.

A lightweight sensor-driven Lévy walk controller is presented for efficient autonomous exploration of minimal-sensing, resource-constrained nano-UAVs.