31 citations · 55 across the 22 of their papers we have counts for
9 papers · 1 filter
Improving GNSS Positioning using Neural Network-based Corrections
Ashwin V. Kanhere, Shubh Gupta, Akshay Shetty +1
Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their…
Decentralized Connectivity Maintenance for Multi-robot Systems Under Motion and Sensing Uncertainties
Akshay Shetty, Timmy Hussain, Grace Gao
Communication connectivity is desirable for safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in r…
Constrained Feedforward Neural Network Training via Reachability Analysis
Long Kiu Chung, Adam Dai, Derek Knowles +2
Neural networks have recently become popular for a wide variety of uses, but have seen limited application in safety-critical domains such as robotics near and around humans. This…
A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor Fusion
Adyasha Mohanty, Shubh Gupta, Grace Xingxin Gao
Adopting a joint approach towards state estimation and integrity monitoring results in unbiased integrity monitoring unlike traditional approaches. So far, a joint approach was use…
Robust GPS-Vision Localization via Integrity-Driven Landmark Attention
Sriramya Bhamidipati, Grace Xingxin Gao
For robust GPS-vision navigation in urban areas, we propose an Integrity-driven Landmark Attention (ILA) technique via stochastic reachability. Inspired by cognitive attention in h…
GPS Spoofing Mitigation and Timing Risk Analysis in Networked PMUs via Stochastic Reachability
Sriramya Bhamidipati, Grace Xingxin Gao
To address PMU vulnerability against spoofing, we propose a set-valued state estimation technique known as Stochastic Reachability-based Distributed Kalman Filter (SR-DKF) that com…
Reliable GNSS Localization Against Multiple Faults Using a Particle Filter Framework
Shubh Gupta, Grace X. Gao
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudoran…
Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization
Shubh Gupta, Grace X. Gao
Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to…
Designing Low-Correlation GPS Spreading Codes with a Natural Evolution Strategy Machine Learning Algorithm
Tara Yasmin Mina, Grace Xingxin Gao
With the birth of the next-generation GPS III constellation and the upcoming launch of the Navigation Technology Satellite-3 (NTS-3) testing platform to explore future technologies…