Publications associées à Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images

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

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

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

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

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

A Large-Scale Characterization of How Readers Browse Wikipedia

Tiziano Piccardi, Robert West, 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

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

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

Wikipedia Reader Navigation: When Synthetic Data Is Enough

Tiziano Piccardi, Robert West, 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

On the scale dependence in the dynamics of frictional rupture: Constant fracture energy versus size-dependent breakdown work

Fabian Barras, Marie Estelle Solange Violay, François Xavier Thibault Passelègue, Federica Paglialunga, Mathias Alexandre David Lebihain

Potential energy stored during the inter-seismic period by tectonic loading around faults is released during earthquakes as radiated energy, frictional dissipation and fracture energy. The latter is of first importance since it is expected to control the n ...

2022

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

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

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

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

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

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

Energetics and mixing of thermally driven flows in Hele-Shaw cells

Hugo Nicolás Ulloa Sánchez

Thermally driven flows in fractures play a key role in enhancing the heat transfer and fluid mixing across the Earth’s lithosphere. Yet the energy pathways in such confined environments have not been characterised. Building on Letelier et al. (J. Fluid Mec ...

Cambridge University Press2021

Navigation Improves the Survival Rate of Mobile-Bearing Total Knee Arthroplasty by Severe Preoperative Coronal Deformity: A Propensity Matched Case-Control Comparative Study

Brigitte Jolles-Haeberli

The primary hypothesis of this study was that the survival rate over 10 years of total knee arthroplasties (TKAs) implanted with a navigation system was superior to that of TKAs implanted with a conventional technique. The secondary hypothesis was that the ...

GEORG THIEME VERLAG KG2021

Fixed-wing micro UAV open data with digicam and raw INS/GNSS

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

We have recently released in the open domain data originating from a series of flights conducted with a fixed-wing micro UAV carrying high-quality small camera and navigation sensors. This data was previously used in several peer-reviewed publications. How ...

2021

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

Camille Sébastien Pirat, Volker Gass

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

Assessment of Real-World Running With Lab-Validated Algorithms Based on Foot-Worn Inertial Sensors

Mathieu Pascal Falbriard

Following the cultural revolution of the late 1960s, the number of elite and recreational runners rose consistently, reaching approximately 7.9 million road races participants in 2018. Today, running is everywhere. City parks, forests, mountain trails, and ...

EPFL2020