7 papers
Distributed and Consistent Multi-Robot Visual-Inertial-Ranging Odometry on Lie Groups
Ziwei Kang, Yizhi Zhou
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate mo…
Robust Online Calibration for UWB-Aided Visual-Inertial Navigation with Bias Correction
Yizhi Zhou, Jie Xu, Jiawei Xia +3
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning…
CVIRO: A Consistent and Tightly-Coupled Visual-Inertial-Ranging Odometry on Lie Groups
Yizhi Zhou, Ziwei Kang, Jiawei Xia +1
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO syste…
Distributed Invariant Unscented Kalman Filter based on Inverse Covariance Intersection with Intermittent Measurements
Zhian Ruan, Yizhi Zhou
This paper studies the problem of distributed state estimation (DSE) over sensor networks on matrix Lie groups, which is crucial for applications where system states evolve on Lie…
Distributed Differentiable Dynamic Game for Multi-robot Coordination
Yizhi Zhou, Wanxin Jin, Xuan Wang
This paper develops a Distributed Differentiable Dynamic Game (D3G) framework, which can efficiently solve the forward and inverse problems in multi-robot coordination. We formulat…
Distributed Estimation for a 3-D Moving Target in Quaternion Space with Unknown Correlation
Yizhi Zhou, Xufan Liu, Xuan Wang
For distributed estimations in a sensor network, the consistency and accuracy of an estimator are greatly affected by the unknown correlations between individual estimates. An inco…