62 citations · 93 across the 9 of their papers we have counts for
10 papers
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Decentralized State Estimation: An Approach using Pseudomeasurements and Preintegration
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié +1
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate si…
Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
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…
Reducing Two-Way Ranging Variance by Signal-Timing Optimization
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Time-of-flight-based ranging among transceivers with different clocks requires protocols that accommodate varying rates of the clocks. Double-sided two-way ranging (DS-TWR) is wide…
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. Howe…
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes +1
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-age…
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussie +2
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this pape…
Ultra-Wideband Teach and Repeat
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy…
Localization with Directional Coordinates
Charles Champagne Cossette, Mohammed Shalaby, David Saussié +1
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and el…
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby +1
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environ…