4 papers
Lightweight 3D LiDAR-Based UAV Tracking: An Adaptive Extended Kalman Filtering Approach
Nivand Khosravi, Meysam Basiri, Rodrigo Ventura
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied…
Decentralized Cooperative Localization for Multi-Robot Systems with Asynchronous Sensor Fusion
Nivand Khosravi, Niusha Khosravi, Mohammad Bozorg +1
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure.…
Unsupervised LiDAR-Based Multi-UAV Detection and Tracking Under Extreme Sparsity
Nivand Khosravi, Rodrigo Ventura, Meysam Basiri
Non-repetitive solid-state LiDAR scanning leads to an extremely sparse measurement regime for detecting airborne UAVs: a small quadrotor at 10-25 m typically produces only 1-2 retu…
Robust Cooperative Localization in Featureless Environments: A Comparative Study of DCL, StCL, CCL, CI, and Standard-CL
Nivand Khosravi, Rodrigo Ventura, Meysam Basiri
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL a…