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In this paper, we present a Covariance Intersection (CI)-based algorithm for reducing the processing and communication complexity of multi-robot Cooperative Localization (CL). Specifically, for a team of N robots, our proposed approximate CI-based CL approach has processing and communication complexity only linear, O(N), in the number of robots. Moreover,(More)
Pose estimation is one of the most fundamental tasks in un-manned vehicles because many high level tasks depend directly on the vehicle localization. In this paper, an embedded pose estimation module based on the extended Kalman filter (EKF) is implemented in an autonomous vehicle with Network Controlled System (NCS) architecture. The implemented EKF fuses(More)
This paper addresses the problem of autonomous quadrotor navigation through a previously-mapped indoor area. In particular, we focus on the case where a user walks through a building and collects images. Subsequently, a visual map of the area, represented as a graph of linked images, is constructed and used for automatically determining visual paths (i.e.,(More)
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