A5015236603- Robotics and Sensor-Based Localization
- Target Tracking and Data Fusion in Sensor Networks
- Inertial Sensor and Navigation
- GNSS positioning and interference
- Indoor and Outdoor Localization Technologies
- Robotic Path Planning Algorithms
- Geophysics and Gravity Measurements
- Modular Robots and Swarm Intelligence
- Aerospace and Aviation Technology
- Distributed Sensor Networks and Detection Algorithms
- Fault Detection and Control Systems
- UAV Applications and Optimization
- Underwater Vehicles and Communication Systems
- Advanced Vision and Imaging
- Spacecraft Design and Technology
- Security and Verification in Computing
- Data Management and Algorithms
- Software System Performance and Reliability
- Formal Methods in Verification
- Software Engineering Techniques and Practices
- Air Traffic Management and Optimization
- Smart Agriculture and AI
- Logic, programming, and type systems
- Planetary Science and Exploration
- Space Exploration and Technology
West Virginia University
2015-2024
West Virginia University Hospitals
2024
Massachusetts Institute of Technology
2022-2023
Machine Intelligence Research Institute
2021-2023
Reed College
2022
Moscow Institute of Thermal Technology
2021
Gorgias Press (United States)
2018
Vrije Universiteit Brussel
2018
Institute of Electrical and Electronics Engineers
2018
Jet Propulsion Laboratory
2012
We propose a simple low-cost technique that enables civil global positioning system receivers and other navigation satellite (GNSS) to reliably detect carry-off spooling jamming. The technique, which we call the power-distortion detector, classilies received signals as interference-free, multipath-afflicted, spoofed, or jammed according observations of power correlation function distortion. It does not depend on external hardware network connection can be readily implemented many via...
This paper considers the fusion of carrier-phase differential GPS (CP-DGPS), peer-to-peer ranging radios, and low-cost inertial navigation systems (INS) for application relative small unmanned aerial vehicles (UAVs) in close formation-flight. A novel sensor algorithm is presented that incorporates locally processed tightly coupled GPS/INS-based absolute solutions from each UAV a filter estimates baseline separation using integer-fixed CP-DGPS set radios. The robustness dynamic estimation...
In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented (UKF), evaluated with respect to performance complexity. The contributions of study that attitude estimates compared independent measurements provided by a mechanical vertical gyroscope 23 diverse sets flight data, fundamental difference between EKF UKF linearization is evaluated.
Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but also surpass them in efficiency and uniformity, helping to feed fast-growing human population on Earth. This paper presents design ongoing development an autonomous robot named “BrambleBee”, which aims at pollinating bramble plants a greenhouse environment. Partially inspired by ecology behavior bees, BrambleBee employs state-of-the-art localization mapping, visual perception, path planning,...
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration balance accuracy and traversal rate for planetary rovers. To address this, we investigate...
This paper presents a state-of-the-art tethered unmanned aerial vehicle (TUAV) for structural integrity assessment of underground stone mine pillars. The TUAV, powered by its tether, works in tandem with an ground (UGV) that hosts the TUAV batteries, self-leveled landing platform, and tether management system. UGV were named Rhino Oxpecker, respectively, given stays landed on while ensemble moves inside mine. mission Oxpecker is to create, using LiDAR sensor, 3D maps pillars support...
Using an Unscented Kalman Filter (UKF) as the nonlinear estimator within a Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithm for attitude estimation, various methods of calculating matrix square root were discussed and compared. Specifically, diagonalization method, Schur Cholesky five different iterative Additionally, method handling requirement, square-root UKF (SR-UKF), was evaluated. The calculations compared based on computational requirements...
This paper presents a novel wind estimation approach, which is compared with existing ideas utilizing different combinations of common aircraft sensors to estimate the velocity in real time at location an aircraft. These techniques were evaluated using simulation data as well two experimental unmanned flight tests validation from ground weather station. Significant performance advantage was shown new filtering technique over approaches.
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large organizations such as Google Uber stepping into the autonomous market. Most this research shied away from Global Navigation Satellite System (GNSS) based navigation. The aversion utilizing GNSS data degraded nature environment (e.g., multipath, poor satellite visibility). degradation makes it that traditional positioning methods...
Monitoring flowers over time is essential for precision robotic pollination in agriculture. To accomplish this, a continuous spatial-temporal observation of plant growth can be done using stationary RGB-D cameras. However, image registration becomes serious challenge due to changes the visual appearance caused by process and occlusions from camera angles. Plants flower manner that produces distinct clusters on branches. This paper presents method matching descriptors generated data considers...
This paper considers the problem of target handoff between Unmanned Aerial Vehicles (UAVs) in a GPS denied environment, and focuses on design evaluation an estimation strategy for determining relative pose aircraft. The approach presented this has three distinct components that act concert to achieve overall objective. First, novel cooperative control is used determine from IMU peer-to-peer ranging radio data without any priori knowledge either aircraft's pose. Next, measurement calculated...
This paper presents a cooperative, multi-robot solution for searching, excavating, and transporting mineral resources on the Moon. Our work was developed in context of Space Robotics Challenge Phase 2 (SRCP2), which part NASA Centennial Challenges motivated by current Artemis program, flagship initiative that intends to establish long-term human presence In SRCP2 group simulated mobile robots tasked with reporting volatile locations within realistic lunar simulation environment, excavating...
This paper describes a method for estimating the relative pose of pair unmanned aerial vehicles (UAV) using noisy measurements from ranging radios and each aircraft's on board navigation system. In this method, there is no prior information needed about UAV. During estimation two traveling UAVs, only single range measurement between UAVs at location. To augment limited information, motion used to construct graph with displacement in position over multiple locations. First, analytical...
The purpose of this study is to identify the potential biomechanical and cognitive workload effects induced by human robot collaborative pollination task, how additional cues reliability influence these whether interacting with influences participant's anxiety attitude towards robots.
The extended Kalman filter (EKF) and unscented (UKF) for nonlinear state estimation with both additive nonadditive noise structures are presented compared. Three different Global Positioning System (GPS)/inertial navigation system (INS) sensor fusion formulations attitude used as case studies the problem. A diverse set of actual flight data collected from research unmanned aerial vehicles was empirical this study. Roll pitch results were comparedwith independent measurements amechanical...
Attitude estimation using Global Positioning System/Inertial Navigation System (GPS/INS) was used as an example application to study three different methods of fusing redundant multi-sensor data in the prediction stage a nonlinear recursive filter. Experimental flight were collected with Unmanned Aerial Vehicle (UAV) containing GPS position and velocity calculations four Inertial Measurement Unit (IMU) sensors. Additionally, aircraft roll pitch angles measured directly high-quality...
A novel sensor fusion design framework is presented with the objective of improving overall multisensor measurement system performance and achieving graceful degradation following individual failures. The Unscented Information Filter (UIF) used to provide a useful tool for combining information from multiple sources. two-step off-line on-line calibration procedure refines error models improves performance. Fault Detection Identification (FDI) scheme crosschecks measurements simultaneously...
An experimental analysis of Global Positioning System (GPS) flight data collected onboard a Small Unmanned Aerial Vehicle (SUAV) is conducted in order to demonstrate that postprocessed kinematic Precise Point (PPP) solutions with precisions approximately 6 cm 3D Residual Sum Squares (RSOS) can be obtained on SUAVs have short duration flights limited observational periods (i.e., only ~≤5 minutes data). This significant result for the UAV testing community because an important and relevant...