In this letter, we perform a tightly-coupled fusion of a monocular camera, a 6-DoF IMU, and
multiple position-unknown Ultra-wideband (UWB) anchors to construct an indoor …

Privacy-preserving localization is an important enabling technology for location-based
applications on the Internet of Things (IoT). Existing work utilizes encryption or noise-adding …

Multicopter Unmanned Aerial Vehicles (UAV) are known for their high agility and aggressive
manoeuvres. Despite significant advances in state estimation for such vehicles with multiple …

Navigation technology, which integrates vision, Inertial Measurement Unit (IMU), and Ultra-
Wideband (UWB) sensors in GNSS-denied environments has gained a significant attention …

Navigating accurately in potentially GPS-denied environments is a perquisite of autonomous
systems. Relative localization based on ultra-wideband (UWB) is-especially indoors-a …

Time-of-flight (ToF) ranging using ultra-wideband (UWB) signals is of interest in many
localization applications. However, non-line-of-sight (NLoS) and multipath radio propagation …

This paper introduces a generic filter-based state estimation framework that supports two
state-decoupling strategies based on cross-covariance factorization. These strategies …

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band
(UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift …

In this dissertation, we investigate the issue of robust localization in swarms of
heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus …

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard
sensors is a key requirement for enabling easily deployable cable robots in real-world …