Publications associées à A survey of techniques and challenges in underwater localization

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

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

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Dario Floreano, Jun Shintake, Ryo Kanno, Bokeon Kwak, Markéta Pankhurst

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

2024

Indoor Real-time localization system design for Internet of Things applications

Pooneh Mohaghegh

With the prevalence of smartphones, watches, and Internet of Things (IoT) devices, the ability to track their positions is becoming increasingly important. For many indoor positioning systems (IPSs), providing an uninterrupted flow of information in real-t ...

EPFL2023

Vision-based Flocking in Aerial Robot Swarms

Fabian Maximilian Schilling

Aerial robot swarms have the potential to perform time-critical and dangerous tasks such as disaster response without compromising human safety. However, their reliance on external infrastructure such as global positioning for localization and wireless net ...

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

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

A Low-Complexity LoRa Synchronization Algorithm Robust to Sampling Time Offsets

Orion Afisiadis, Mathieu Pierre Xhonneux

LoRaWAN is nowadays one of the most popular protocols for low-power Internet of Things communications. Although its physical layer, namely LoRa, has been thoroughly studied in the literature, aspects related to the synchronization of LoRa receivers have re ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Deep Learning Detection of GPS Spoofing

Mirjana Stojilovic, Olivia Jullian Parra

Unmanned aerial vehicles (UAVs) are widely deployed in air navigation, where numerous applications use them for safety-of-life and positioning, navigation, and timing tasks. Consequently, GPS spoofing attacks are more and more frequent. The aim of this wor ...

Springer, Cham2022

Mismatched Decoding Reliability Function at Zero Rate

Marco Bondaschi

We derive an upper bound on the reliability function of mismatched decoding for zero-rate codes. The bound is based on a result by Komlos that shows the existence of a subcode with certain symmetry properties. The bound is shown to coincide with the expurg ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

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

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

Depth Camera and Electromagnetic Field Localization System For IoT Application - High level, lightweight data fusion

Yves Perriard, Alexis Boegli, Rabia Saeed, Pooneh Mohaghegh

This article demonstrates person localization using a hybrid system consisting of an electromagnetic positioning system and a depth camera to authorize access control. The ultimate aim of this system is to distinguish moving people in a defined area by tra ...

Association for Computing Machinery2021

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Anwar Ahmad Quraishi

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

EPFL2021

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

On the Advantage of Coherent LoRa Detection in the Presence of Interference

Andreas Peter Burg, Alexios Konstantinos Balatsoukas Stimming, Orion Afisiadis, Joachim Tobias Tapparel, Sitian Li

It has been shown that the coherent detection of long range (LoRa) signals only provides marginal gains of around 0.7 dB on the additive white Gaussian noise (AWGN) channel. However, ALOHA-based massive Internet-of-Things systems, including LoRa, often ope ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Low-Latency High-Bandwidth Circuit and System Design for Trigger Systems in High Energy Physics

Marcos Vinícius Silva Oliveira

The increasing luminosity in HEP (High Energy Physics) colliders demands trigger systems to be more selective. First, more information from the detector is routed to the trigger system. Second, larger parts of this information are processed together. These ...

EPFL2021