Path planning is one of the most important problems to be explored in unmanned aerial
vehicles (UAVs) for finding an optimal path between source and destination. Although, in …

We define a system architecture for a large swarm of miniature quadcopters flying in dense
formation indoors. The large number of small vehicles motivates novel design choices for …

This review surveys the current state of the art in the development of unmanned aerial
vehicles, focusing on algorithms for quadrotors. Tremendous progress has been made …

In the development of automotive electronics, nearly every automobile is equipped with an
inertial measurement unit (IMU). However, the yaw misalignment of the IMU is inevitable …

Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial
measurements, which are usually available in robotic applications. In this article, we …

State estimation has long been a fundamental problem in signal processing and control
areas. The main challenge is to design filters with ability to reject or attenuate various …

In this paper, we present an efficient and robust GPS-aided visual inertial odometry (GPS-
VIO) system that fuses IMU-camera data with intermittent GPS measurements. To perform …

As sensor calibration plays an important role in visual-inertial sensor fusion, this article
performs an in-depth investigation of online self-calibration for robust and accurate visual …

To reach a given destination safely and accurately, a micro aerial vehicle needs to be able
to avoid obstacles and minimize its state estimation uncertainty at the same time. To achieve …

This article proposes an online optimal active perception strategy for differentially flat
systems meant to maximize the information collected via the available measurements along …