High-quality large-scale scene rendering requires a scalable representation and accurate
camera poses. This research combines tile-based hybrid neural fields with parallel …

Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous
aerial swarms, laying the foundation for downstream algorithms, such as planning and …

Although cooperative localization (CL) is fundamental to multirobot systems, current
algorithms suffer from the tracking of interdependencies, information fusion from multiple …

Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot
ranging and communication. A major constraint associated with UWB is that only one pair of …

Navigating accurately in potentially GPS-denied environments is a perquisite of autonomous
systems. Relative localization based on ultra-wideband (UWB) is-especially indoors-a …

Collaboratively estimating the state of two robots under communication constraints is
challenging regarding computational complexity and statistical optimality. Previous work …

Fusing information from multiple sensors in aprobabilistic framework can significantly
improve the estimation of the system's states, allow for redundancy, and for adaptations in …

In this article, asynchronous distributed nonlinear estimation under directed networks is
studied, where each agent updates its own estimate without waiting for other agents. The …

In this dissertation, we investigate the issue of robust localization in swarms of
heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus …

(国防科技大学智能科学学院, 湖南长沙410072) 摘要: 近年来, 多无人平台协同定位应用广泛,
各平台利用距离测量等相互观测可以进一步提高自身的定位精度. 在惯性/测距组合的协同定位 …