This project examined the roles of idiothetic cues due to individuals' movement and allothetic cues independent of individuals' movement in individuals' estimations of their position and heading during locomotion. In an immersive virtual environment, participants learned the locations of five objects and then moved along two legs of a path before positioning the origin and the objects. Particip...

In a visible light positioning (VLP) system, a receiver can estimate its location based on signals transmitted by light emitting diodes (LEDs). In this manuscript, we investigate a quasi-synchronous VLP system, in which the LED transmitters are synchronous among themselves but are not synchronized with the receiver. In quasisynchronous VLP systems, position estimation can be performed by utiliz...

Our goal is to develop a co-player music robot, i.e., a robot that presents a musical expression together with humans. A music interaction requires two important functions: synchronization with the music and musical expression, such as dancing or playing a musical instrument. Many instrumentperforming robots are only capable of the latter function, they may have difficulty in playing live with ...

Vehicle position estimation is a key technology for Inter-Vehicle Communications, while template matching can be used to get information of vehicular position. In the paper, a simplified template matching, namely area-based template match is considered. A vehicular communication system designed for wireless data application is proposed where a camera is fixed in a vehicle which is served as a b...

This thesis presents estimation and control algorithms used to coordinate a multivehicle testbed. A total sensor package using the Global Positioning System as the primary sensor with secondary inertial sensors for when GPS is not available and a single point position fix measurement is designed. A new method of integrated velocity estimation is presented using only the Doppler measurements pro...

This paper presents a method to increase the reliability of UAV sensor fault detection in a multiUAV context. The method uses additional position estimations that augment individual UAV fault detection system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factor...

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The ...

In this paper, an observer problem from a computer vision application is studied. Rigid body pose estimation using inertial sensors and a monocular camera is considered and it is shown how rotation estimation can be decoupled from position estimation. Orientation estimation is formulated as an observer problem with implicit output where the states evolve on (3). A careful observability study re...

This paper presents a phase-inductance-based position estimation method for interior permanent magnet synchronous motors (IPMSMs). According to the characteristics of phase induction of IPMSMs, the corresponding relationship of the rotor position and the phase inductance is obtained. In order to eliminate the effect of the zero-sequence component of phase inductance and reduce the rotor positio...

Localization is a fundamental problem for mobile robot autonomous navigation. EKF is an efficient tool for position estimation, but it suffers from linearization errors due to linear approximation of nonlinear system equations. In this paper we describe a position estimation method for mobile robot. Process and measurement equations are linear by appropriately constructing the state vector and ...