61 citations · 81 across the 14 of their papers we have counts for
18 papers
UWB Meets Crazyflow: Simulating Degraded Feedback at Scale for Aerial Robotics
Martin Schuck, Marcel P. Rath, Yufei Hua +3
In this work, we introduce Crazyflow, an accurate, differentiable simulator built on JAX. By leveraging jit compilation via XLA, Crazyflow unifies physics and control into a single…
BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins
Elliot Preston-Krebs, Abhishek Goudar, Timothy D. Barfoot
We present Informed Belief Localization Trees* (Informed BLT*), a sampling-based belief space planning (BSP) algorithm that scales to large outdoor digital twins with point-cloud o…
Following a Unique Path: A Fast Certifier Applied to Outlier-Robust Pose Registration
Connor Holmes, Abhishek Goudar, Timothy D. Barfoot
Certifiable methods have arisen as a means to guarantee global optimality of solutions to non-convex problems using convex semidefinite programming (SDP) relaxations. The most perf…
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua +3
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing the capabilities of robot algorithms. While aerial robotics simulators have evolved…
Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation
Abhishek Goudar, Angela P. Schoellig
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using…
Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
Abhishek Goudar, Angela P. Schoellig
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globa…
A Knowledge Graph Informing Soil Carbon Modeling
Nasim Shirvani-Mahdavi, Devin Wingfield, Juan Guajardo Gutierrez +12
Soil organic carbon is crucial for climate change mitigation and agricultural sustainability. However, understanding its dynamics requires integrating complex, heterogeneous data f…
Ultra-wideband Time Difference of Arrival Indoor Localization: From Sensor Placement to System Evaluation
Wenda Zhao, Abhishek Goudar, Mingliang Tang +1
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wide…
Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach
Chao Qin, Jingxiang Chen, Yifan Lin +3
Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to a…
Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation
Abhishek Goudar, Wenda Zhao, Angela P. Schoellig
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization.…
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot +1
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed…
Uncertainty-aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments
Wenda Zhao, Abhishek Goudar, Mingliang Tang +2
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the…
Continuous-Time Range-Only Pose Estimation
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurement…
Finding the Right Place: Sensor Placement for UWB Time Difference of Arrival Localization in Cluttered Indoor Environments
Wenda Zhao, Abhishek Goudar, Angela P. Schoellig
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both…
UTIL: An Ultra-wideband Time-difference-of-arrival Indoor Localization Dataset
Wenda Zhao, Abhishek Goudar, Xinyuan Qiao +1
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suite…
Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization
Abhishek Goudar, Angela P. Schoellig
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) servic…
On Observability and Identifiability of Tightly-coupled Ultrawideband-aided Inertial Localization
Abhishek Goudar
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally moun…
Learning-based Bias Correction for Ultra-wideband Localization of Resource-constrained Mobile Robots
Wenda Zhao, Abhishek Goudar, Jacopo Panerati +1
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promi…