As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems
(VINS) have prevailed in a wide range of applications from mobile augmented reality to …

This paper aims to present a brief overview of the development of sensor fusion in various
application in recent years, and to understand the challenges and ability of sensor fusion …

The development of a navigation system is one of the major challenges in building a fully
autonomous platform. Full autonomy requires a dependable navigation capability not only in …

Payload manipulation with aerial robots has been an active research area for many years.
Recent approaches have sought to plan, control, and execute maneuvers with large, yet …

In this paper, we propose a robust on-the-fly estimator initialization algorithm to provide high-
quality initial states for monocular visual-inertial systems (VINS). Due to the non-linearity of …

Robot-assisted natural disaster management is recently employed to aid human rescuers at
diverse disaster sites. Due to its compactness and availability, drone has become an …

In this paper, we propose a new analytical preintegration theory for graph-based sensor
fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors) …

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 …

The ability to perform aggressive movements, which are called aggressive flights, is
important for quadrotors during navigation. However, aggressive quadrotor flights are still a …

In this paper, we present a real-time multi-IMU visual-inertial navigation system (mi-VINS)
that utilizes the information from multiple inertial measurement units (IMUs) and thus is …