Publications related to Navigation

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Accurate and agile flight with winged drones

Valentin Wüest

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Gabriel François Laupré

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 ...

2024

TSLAM: a tag-based object-centered monocular navigation system for augmented manual woodworking

Yves Weinand, Julien Gamerro, Andrea Settimi, Hong-Bin Yang

TimberSLAM (TSLAM) is an object-centered, tag-based visual self-localization and mapping (SLAM) system for monocular RGB cameras. It was specifically developed to support a robust and augmented reality pipeline for close-range, noisy, and cluttered fabrica ...

2024

Aerodynamic modeling of a delta-wing UAV for model-based navigation

Jan Skaloud, Pasquale Longobardi

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

2024

A Large-Scale Characterization of How Readers Browse Wikipedia

Robert West, Tiziano Piccardi, Akhil Arora

Despite the importance and pervasiveness of Wikipedia as one of the largest platforms for open knowledge, surprisingly little is known about how people navigate its content when seeking information. To bridge this gap, we present the first systematic large ...

ASSOC COMPUTING MACHINERY2023

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Jan Skaloud, Gabriel François Laupré

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

2023

Physical Body Orientation Impacts Virtual Navigation Experience and Performance

Olaf Blanke, Emanuela De Falco, Hsin-Ping Wu, Hyukjun Moon

Most human navigation studies in MRI rely on virtual navigation. However, the necessary supine position in MRI makes it fundamentally different from daily ecological navigation. Nonetheless, until now, no study has assessed whether differences in physical ...

Soc Neuroscience2023

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin, Frank Centamori

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

2023

Wikipedia Reader Navigation: When Synthetic Data Is Enough

Robert West, Tiziano Piccardi, Akhil Arora, Alberto Garcia Duran

Every day millions of people read Wikipedia. When navigating the vast space of available topics using hyperlinks, readers describe trajectories on the article network. Understanding these navigation patterns is crucial to better serve readers' needs and ad ...

ASSOC COMPUTING MACHINERY2022

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

Gabriel François Laupré

The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

How We Use Wikipedia: Studying Readers' Behavior with Navigation Traces

Tiziano Piccardi

In the information age, the Web and the growing global connectivity drastically simplified our access to information. Learning and fact-checking from online resources is nowadays part of our daily routine. Studying the dynamic associated with online conten ...

EPFL2022

Sensor-integrated ultraflexible endovascular devices

Lucio Feo Pancaldi-Giubbini

Medical interventions in the central nervous system (CNS) are challenging due to the complexity and delicacy of the brain tissue. Techniques that do not require opening the skull would alleviate patient discomfort and increase post-operative outputs. Vesse ...

EPFL2022

Locomotion of Sensor‐Integrated Soft Robotic Devices Inside Sub‐Millimeter Arteries with Impaired Flow Conditions

Diego Ghezzi, Mahmut Selman Sakar, Lorenzo Francesco John Noseda, Amit Yedidia Dolev, Lucio Feo Pancaldi-Giubbini, Adele Fanelli

One of the grand challenges in interventional cardiology and neuroradiology is to minimize the operation time and risk of damage during catheterization. These two factors drastically increase if the target location resides in small and tortuous vessels. Fl ...

Wiley2022

UAV in the advent of the twenties: Where we stand and what is next

Jan Skaloud, Davide Antonio Cucci

The use of Unmanned Aerial Vehicles (UAVs) has surged in the last two decades, making them popular instruments for a wide range of applications, and leading to a remarkable number of scientific contributions in geoscience, remote sensing and engineering. H ...

2022

Landmarking for Navigational Streaming of Stored High-Dimensional Media

Pascal Frossard, Yuan Yuan

Modern media data such as 360 degrees videos and light field (LF) images are typically captured in much higher dimensions than the observers' visual displays. To efficiently browse high-dimensional media, a navigational streaming model is considered: a cli ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes

Omar Garcia Crespillo

Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. Over the last decade, significant effort has been put to guarantee a bounded position estimation by using Global Navigation Satellite Systems (GNSS) ...

EPFL2022

Sense of self impacts spatial navigation and hexadirectional coding in human entorhinal cortex

Olaf Blanke, Nathan Quentin Faivre, Hyeongdong Park, Baptiste Gauthier, Hyukjun Moon

Grid cells in entorhinal cortex (EC) encode an individual’s location in space and rely on environmental cues and self-motion cues derived from the individual’s body. Body-derived signals are also primary signals for the sense of self and based on integrate ...

2022

In situ observations of the Swiss periglacial environment using GNSS instruments

Alessandro Cicoira, Matthias Meyer, Hugo Raetzo

Monitoring of the periglacial environment is relevant for many disciplines including glaciology, natural hazard management, geomorphology, and geodesy. Since October 2022, Rock Glacier Velocity (RGV) is a new Essential Climate Variable (ECV) product within ...

COPERNICUS GESELLSCHAFT MBH2022