Publication

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

Publications associées (28)

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

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

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

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

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

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

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

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Auke Ijspeert, Alexandre Massoud Alahi, George Adaimi, Chuanfang Ning, Lixuan Tang, Anastasia Bolotnikova

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Ionospheric Variations Induced by Thunderstorms in the Central Region of Argentina during the RELAMPAGO–CACTI Campaign

Farhad Rachidi-Haeri, Marcos Rubinstein

The ionosphere can be perturbed by solar and geomagnetic activity, earthquakes, thunderstorms, etc. In particular, electromagnetic pulses produced by thunderstorms can generate wave structures in the ionospheric plasma, which are known as atmospheric gravi ...

2023

Practical computational imaging by use of spatiotemporal light modulation: from simulations to applications in biological microscopy

François Thierry M Marelli

Optical microscopy is an essential tool for biologists, who are often faced with the need to overcome the spatial and temporal resolution limitations of their devices to capture finer details. As upgrading imaging hardware is expensive, computational metho ...

EPFL2023

Towards learning-based denoising of light fields

Touradj Ebrahimi, Michela Testolina, Tomás Soares De Carvalho Feith

In recent years, new emerging immersive imaging modalities, e.g. light fields, have been receiving growing attention, becoming increasingly widespread over the years. Light fields are often captured through multi-camera arrays or plenoptic cameras, with th ...

2023

Ex uno plures: how to construct high-speed movies of collapsing cavitation bubbles from a single image

Mohamed Farhat, Armand Baptiste Sieber, Davide Bernardo Preso

The time-resolved visualization of the dynamics of a cavitation bubble usually requires the use of expensive high-speed cameras, which often provide a limited spatial resolution. In the present study, we propose an alternative to these high-speed imaging t ...

Springer2023

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

LenslessPiCam: A Hardware and Software Platform for Lensless Computational Imaging with a Raspberry Pi

Martin Vetterli, Sepand Kashani, Matthieu Martin Jean-André Simeoni, Eric Bezzam

This toolkit has everything you need to perform imaging with a lensless camera. We make use of a low-cost implementation of DiffuserCam, namely replacing the lens with a piece of tape and using the Raspberry Pi HQ camera sensor. Similar principles and meth ...

Zenodo2023

SoDaCam: Software-defined Cameras via Single-Photon Imaging

Claudio Bruschini, Edoardo Charbon, Andrei Ardelean, Mohit Gupta

Reinterpretable cameras are defined by their post-processing capabilities that exceed traditional imaging. We present "SoDaCam" that provides reinterpretable cameras at the granularity of photons, from photon-cubes acquired by single-photon devices. Photon ...

Ieee Computer Soc2023

Regressive Tomography and Direct Regressive Reconstruction: A Research Note

Henri Weisen

Two related methods for inverting line-integrated measurements are presented in this research paper in the context of the recent deuterium-tritium experiments in the JET tokamak. Unlike traditional methods of tomography, these methods rely on making use of ...

2023

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

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