3 papers
cs.RO2025
MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision
Mohammed Ayman Shalaby, Syed Shabbir Ahmed, Nicholas Dahdah +3
This paper introduces MILUV, a Multi-UAV Indoor Localization dataset with UWB and Vision measurements. This dataset comprises 217 minutes of flight time over 36 experiments using t…
cs.RO2025
Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations
Syed Shabbir Ahmed, Mohammed Ayman Shalaby, Jerome Le Ny +1
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-i…
cs.RO2024
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities
Syed S. Ahmed, Mohammed A. Shalaby, Charles C. Cossette +2
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dim…