Publications associées à Mapping GNSS Restricted Environment with a Drone Tandem and Indirect Position Control

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

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

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

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

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

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

Towards real-world biomechanical analysis of performance and functional capacity using wearable sensors

Salil Apte

Today, wearable heart rate monitors are an integral part of runners' training sessions, with heart rate data routinely used to assess effort intensity and stress on the body. As athletes translate their physical capacity into performance on the field throu ...

EPFL2022

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

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

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

Bluetooth Low Energy Direction Finding Principle

Yves Perriard, Alexis Boegli, Pooneh Mohaghegh

The ubiquitous implementation of 5G networks and the Internet of Things (IoT), brings about the importance of indoor localization. Even though Global Positioning System (GPS) provides an efficient outdoor Positioning System (PS), indoor positioning techniq ...

IEEE2021

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

Reviewing Challenges of Predicting Protein Melting Temperature Change Upon Mutation Through the Full Analysis of a Highly Detailed Dataset with High-Resolution Structures

Luciano Andres Abriata

Predicting the effects of mutations on protein stability is a key problem in fundamental and applied biology, still unsolved even for the relatively simple case of small, soluble, globular, monomeric, two-state-folder proteins. Many articles discuss the li ...

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

UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Dario Floreano, Fabrizio Schiano

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely. Motion ca ...

2020

Calibration Aspects of INS Navigation

Philipp Clausen

The use of a Bayesian filter (e.g., Kalman filter) for the fusion of information from satellite positioning and inertial navigation is a common approach in many applications, where the knowledge of position, velocity, and attitude in space are of great int ...

EPFL2019