6 papers · 1 filter
Dual Quaternion-Based Unscented Kalman Filter with Visual Inertial Odometry for Navigation in GPS-Denied Environments
Mohamed Khalifa, Hashim A. Hashim
Reliable navigation in GPS-denied environments remains a fundamental challenge in robotics, aerospace, and autonomous vehicle applications. This paper presents a Dual Quaternion-Ba…
Unscented Particle Filter for Visual-inertial Navigation using IMU and Landmark Measurements
Khashayar Ghanizadegan, Hashim A. Hashim
This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degree…
DeepUKF-VIN: Adaptively-tuned Deep Unscented Kalman Filter for 3D Visual-Inertial Navigation based on IMU-Vision-Net
Khashayar Ghanizadegan, Hashim A. Hashim
This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF).…
Aerial Assistive Payload Transportation Using Quadrotor UAVs with Nonsingular Fast Terminal SMC for Human Physical Interaction
Hussein Naser, Hashim A. Hashim, Mojtaba Ahmadi
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through hu…
Quaternion-based Unscented Kalman Filter for 6-DoF Vision-based Inertial Navigation in GPS-denied Regions
Khashayar Ghanizadegan, Hashim A. Hashim
This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF)…
Deep Reinforcement Learning for Sim-to-Real Policy Transfer of VTOL-UAVs Offshore Docking Operations
Ali M. Ali, Aryaman Gupta, Hashim A. Hashim
This paper proposes a novel Reinforcement Learning (RL) approach for sim-to-real policy transfer of Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL-UAV). The proposed a…