Publications related to Dynamic positioning

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

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

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

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

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

2023

First steps towards interlocking modular microfluidic cooling substrates (i-MμCS) for future silicon tracking detectors in High Energy Physics (HEP)

Philippe Renaud, Massimo Angeletti

In future High Energy Physics detectors, the coverage of large surfaces with silicon pixel chip sensors poses a challenge for the sensors positioning, for their cooling, assembly, and interconnection. The use of a cooling substrate on which the sensors are ...

2022

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Alcherio Martinoli, Anwar Ahmad Quraishi

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

2021

Device for measuring instantaneous sprint velocity

Kamiar Aminian, Salil Apte, Farzin Dadashi, Benoît Mariani

The invention concerns a device for measuring instantaneous sprint velocity, said device consisting of at least one position and/or one velocity sensor and one IMU sensor that respectively provide position and/or velocity and acceleration signals and where ...

2021

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Jan Skaloud, Gabriel François Laupré

Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...

2021

Simulation Tool : Resources Management in High Performance Avionic for ADR Missions

Jean-Paul Richard Kneib, Michaël Yannick Juillard

This paper describes the second iteration in the development of a simulation tool that provides trade-offs of avionic architectures for future Active Debris Removal (ADR) space missions. ...

IEEE2021

On the Self-Calibration of Aerodynamic Coefficients in Vehicle Dynamic Model-Based Navigation

Jan Skaloud, Gabriel François Laupré

The performance of vehicle dynamic model (VDM)-based navigation largely depends on the accurate determination of aerodynamic coefficients that are unknown a priori. Among different techniques, such as model simulations or experimental analysis in a wind tu ...

2020

X-ray pulsar-based GNC system for formation flying in high Earth orbits

Volker Gass, Camille Sébastien Pirat

In this paper, comprehensive pulsar-based Guidance, Navigation and Control (GNC) system is designed and applied to satellites formation flying. The complete autonomy of the X-ray pulsar navigation technology provides both absolute and relative positioning ...

PERGAMON-ELSEVIER SCIENCE LTD2020

Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs

Jean-Paul Richard Kneib, Mohamed Bouri, Ricardo Jorge Araùjo Pereira, Luzius Gregor Kronig, Philipp Hörler, Loïc Grossen

The recent burgeoning interest in massive multiobject spectroscopy has pushed the development of massive optical fiber positioning systems. These systems rely on precise fiber placement to detect the light spectra of many stars and galaxies. One successful ...

2020

Kinetic Euclidean Distance Matrices

Martin Vetterli, Ivan Dokmanic, Puoya Tabaghi

Euclidean distance matrices (EDMs) are a major tool for localization from distances, with applications ranging from protein structure determination to global positioning and manifold learning. They are, however, static objects which serve to localize point ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Precision Positioning of Microrobots for Multi-Object Spectrographs

Luzius Gregor Kronig

How does one study the evolution of the Milky Way, or the expansion of the Universe, or explore the mysteries of Dark energy? To investigate these complex topics, astronomers require data, and a great deal of it, in the form of the spectra of stars, galaxi ...

EPFL2020

ActiveMoCap: Optimized Viewpoint Selection for Active Human Motion Capture

Pascal Fua, Mathieu Salzmann, Helge Jochen Rhodin, Sena Kiciroglu, Sudipta Sinha

The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the location which will yie ...

IEEE2020

Sensitivity to Time Delays in VDM-Based Navigation

Jan Skaloud, Gabriel François Laupré, Mehran Khaghani

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute ti ...

2019

VDM-based UAV Attitude Determination in Absence of IMU Data

Jan Skaloud, Mehran Khaghani

The capability of a previously proposed VDM (vehicle dynamic model) based navigation method for UAVs is assessed in attitude determination without IMU data. This method utilizes the VDM as main process model within the navigation filter and treats data fro ...

IEEE2018

Vehicle Dynamic Model Based Navigation for Small UAVs

Mehran Khaghani

The dominant navigation system for small civilian UAVs today is based on integration of inertial navigation system (INS) and global navigation satellite system (GNSS). This strategy works well to navigate the UAV, as long as proper reception of GNSS signal ...

EPFL2018

Drift Reduction for Inertial Sensor Based Orientation and Position Estimation in the Presence of High Dynamic Variability During Competitive Skiing and Daily-Life Walking

Benedikt Fasel

Nowadays inertial sensors are extensively used for gait analysis. They can be used to perform temporal event detection (i.e. step detection) and to estimate the orientation of the feet and other body segments to determine walking speed and distance. Usuall ...

EPFL2017

Challenges in visual and inertial information gathering for a sprawling posture robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Mahsa Parsapour

We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...

2017