47 citations · 88 across the 9 of their papers we have counts for
10 papers · 1 filter
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds
Alexander Raab, Stephan Weiss, Alessandro Fornasier +2
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extend…
Sensor Model Identification via Simultaneous Model Selection and State Variable Determination
Christian Brommer, Alessandro Fornasier, Jan Steinbrener +1
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the…
Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback
Rohit Dhakate, Christian Brommer, Christoph Böhm +2
This article presents an entirely data-driven approach for autonomous control of redundant manipulators with hydraulic actuation. The approach only requires minimal system informat…
AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry
Thomas Jantos, Martin Scheiber, Christian Brommer +3
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic inf…
Revisiting multi-GNSS Navigation for UAVs -- An Equivariant Filtering Approach
Martin Scheiber, Alessandro Fornasier, Christian Brommer +1
In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional s…
AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities
Thomas Jantos, Christian Brommer, Eren Allak +2
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of crit…
INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators
Christian Brommer, Alessandro Fornasier, Martin Scheiber +4
For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust…
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
Alessandro Fornasier, Yonhon Ng, Christian Brommer +3
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capab…
Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data Acquisition
Danylo Malyuta, Christian Brommer, Daniel Hentzen +3
Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, furt…
Long-Duration Autonomy for Small Rotorcraft UAS including Recharging
Christian Brommer, Danylo Malyuta, Daniel Hentzen +1
Many unmanned aerial vehicle surveillance and monitoring applications require observations at precise locations over long periods of time, ideally days or weeks at a time (e.g. eco…