Publications associées à Indoor Navigation Enhanced by Map-Matching

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

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

Performance and accuracy of cross‐section tracking methods for hydromorphological habitat assessment in wadable rivers with sparse canopy conditions

Giovanni De Cesare, Paolo Perona, Robin Schroff

This article investigates the performance and accuracy of continuous Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) position tracking for hydromorphological surveys, based on a comprehensive river restoration monitoring campaign. The a ...

2024

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

Impact of substrate clogging on vertical connectivity

Giovanni De Cesare, Romain Maxime Dubuis, Robin Schroff

Connectivity between the hyporheic zone and the flow is essential for the development of benthos and the reproductive success of spawning fish. The infiltration of fine sediment leads to clogging of the riverbed, reducing porosity and vertical water exchan ...

2023

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

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

Blind as a bat: spatial perception without sight

Frederike Dümbgen

Among our five senses, we rely mostly on audition and vision to perceive an environment. Our ears are able to detect stimuli from all directions, especially from obstructed and far-away objects. Even in smoke, harsh weather conditions, or at night â situ ...

EPFL2021

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

Automated Design: A Journey Across Modelling, Optimization, and Education

Cyril Picard

Machine intelligence greatly impacts almost all domains of our societies. It is profoundly changing the field of mechanical engineering with new technical possibilities and processes. The education of future engineers also needs to adapt in terms of techni ...

EPFL2021

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

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

Distributed State Estimation and Control of Autonomous Quadrotor Formations Using Exclusively Onboard Resources

Duarte Da Cruz Baptista Dias

The navigation of unmanned aerial vehicles operating in environments without global positioning systems, including global navigation satellite systems and motion capture systems, is a recent research topic, without much work reported in the literature. In ...

EPFL2019

An Algorithm for Odor Source Localization based on Source Term Estimation

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across the security, safety, domestic, medical, and environmental domains. In this paper, we present an algorithm based on source term estimation for odor source localizat ...

IEEE2019

A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Over the past years, the field of small unmanned aerial vehicles has grown significantly and several applications have appeared, requiring always more autonomous flight. An important remaining challenge for fully autonomous unmanned aerial vehicles is coll ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Comparison of L1 and L5 Bands GNSS Signals Acquisition

Cyril Botteron, Jérôme Leclère

Nowadays, civil Global Navigation Satellite System (GNSS) signals are available in both L1 and L5 bands. A receiver does not need to acquire independently the signals in both bands coming from a same satellite, since their carrier Doppler and code delay ar ...

2018

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

Compiling Questions into Balanced Quizzes about Documents

Jessica Elke Dehler Zufferey, Cristina Menghini, Robert West

In the educational framework, knowledge assessment is a critical component, and quizzes (sets of questions with concise answers) are a popular tool for this purpose. This paper focuses on the generation of balanced quizzes, i.e., quizzes that relate to a g ...

ASSOC COMPUTING MACHINERY2018

Pyroomacoustics: A Python Package For Audio Room Simulation And Array Processing Algorithms

Robin Scheibler, Ivan Dokmanic, Eric Bezzam

We present pyroomacoustics, a software package aimed at the rapid development and testing of audio array processing algorithms. The content of the package can be divided into three main components: an intuitive Python object-oriented interface to quickly c ...

IEEE2018