Robotics-in-Flight LLC

This tutorial paper presents a range-aided Extended Kalman Filter (EKF) for relative navigation, combining IMU data with range observations from onboard sensors that measure the distance between nodes in the network (i.e. a drone swarm). This method, typically called range-only… Continue reading

This paper presents a vision-aided, horizontal velocity control system for unmanned aerial vehicles (UAVs). Angular velocity data provided by an Inertial Measurement Unit (IMU) is combined with pixel displacement data given by an optical flow sensor to produce a measure… Continue reading

Accelerometer Bias Estimation for Unmanned Aerial Vehicles Using Extended Kalman Filter-Based Vision-Aided Navigation Continue reading