Article
Engineering, Marine
Dong Ma, Teng Ma, Ye Li, Yu Ling, Yueyang Ben
Summary: This paper proposes a robust fusion TAN (RFTAN) method with a single beam echo sounder (SBES) based on particle filter theory, which combines the terrain positioning results from gridded-TAN and contour-TAN to achieve robust and accurate long-term navigational results for AUVs.
Article
Computer Science, Information Systems
Junwoo Jang, Jinwhan Kim
Summary: This paper presents a low-cost and computationally efficient algorithm for terrain-referenced navigation and SLAM using a single terrain altimeter, which demonstrates its feasibility and validity through simulations.
Article
Engineering, Electrical & Electronic
Rupeng Wang, Ye Li, Teng Ma, Yunsai Chen
Summary: In this article, a multi-TRP fusion positioning (MTFP) model is proposed to address the issues in the initial positioning phase of terrain relative navigation (TRN). The model is validated to provide more stable and reliable initial positioning even in the presence of false peaks and mismatches.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Engineering, Marine
Wenjun Zhang, Peng Shen, Haodong Qi, Qianyi Zhang, Teng Ma, Ye Li
Summary: This paper proposes a path planning method for AUV seabed TAN process to decrease positioning errors by avoiding flat areas, achieving accurate navigation results.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Wang Rupeng, Chen Yunsai, Li Ye, Xu Pengfei, Shen Peng
Summary: This study proposes a particle filter (PF) initialization method based on Non-linear Multi-Terrain Aided Fusion Position (NLMTP) to improve the stability and accuracy of Terrain-Aided Navigation (TAN). NLMTP utilizes Terrain-Aided Position (TAP) information during the initial stage of TAN to estimate the high-precision probability distribution of the starting position, enhancing the convergence speed of PF in the initial phase of underwater TAN.
Article
Engineering, Civil
Georgios Salavasidis, Andrea Munafo, Stephen D. McPhail, Catherine A. Harris, Davide Fenucci, Miles Pebody, Eric Rogers, Alexander B. Phillips
Summary: The study evaluates whether terrain-aided navigation (TAN) can enable multi-month deployments using basic navigation sensors and sparse bathymetric maps in the Arctic. Simulations show that the performance of the TAN algorithm is influenced by the type of heading sensor utilized and various vertical map distortions.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Engineering, Marine
Wang Rupeng, Li Ye, Ma Teng, Cong Zheng, Gong Yusen, Jiang Yanqing, Zhang Qiang
Summary: This study proposes a new terrain-aided position model and tide level estimation method to address the issue of robust terrain-aided positioning under unknown tidal and measurement errors. The effectiveness of the algorithms and confidence interval estimation are verified using shipborne measurement data, with future focus on the relation between terrain characteristics and directionality of the confidence interval in terrain-aided positioning.
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY
(2022)
Article
Engineering, Marine
Stepan Krehlik, Marek Vanzura, Adam Skokan
Summary: Autonomous vehicles rely on sensors and high-definition (HD) maps for safe navigation. This study addresses the gap in the rigorous description of the required accuracy for HD maps. Factors influencing map quality are identified, and a mathematical formula for determining the minimum required accuracy is presented for both static and dynamic models.
JOURNAL OF NAVIGATION
(2023)
Article
Engineering, Electrical & Electronic
James Dallas, Michael P. Cole, Paramsothy Jayakumar, Tulga Ersal
Summary: A novel single-level adaptive trajectory planner and tracking controller has been developed for off-road autonomous vehicles, featuring a neural network deformable terrain terramechanics model. By estimating terrain parameters online, the adaptive controller implemented within model predictive control improves vehicle safety and performance.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Chemistry, Analytical
Wojciech Dawid, Krzysztof Pokonieczny
Summary: This article introduces a method to determine the optimal route between two points using terrain passability maps and two pathfinding algorithms. By modifying the passability index values with functions, different route options can be generated. The methodology has potential applications in various scenarios, such as guiding single vehicles or unmanned ground vehicles and planning routes for military units.
Article
Robotics
Xuesu Xiao, Joydeep Biswas, Peter Stone
Summary: This learning-based approach focuses on considering unobservable world states to enable accurate high-speed off-road navigation on unstructured terrain. By learning a kinodynamic planner in a data-driven manner with onboard inertial observations, the approach demonstrates significant improvement in plan execution success rate when traveling at high speeds in different indoor and outdoor environments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Multidisciplinary Sciences
Lars Haalck, Michael Mangan, Antoine Wystrach, Leo Clement, Barbara Webb, Benjamin Risse
Summary: Tracking the behavior of small animals in complex environments is challenging for computer vision. The CATER methodology combines unsupervised probabilistic detection with global environment reconstruction, allowing for precise quantification of animal behavior in natural settings. Through experiments with desert ants, this method provides insights into navigation and behavior in realistic conditions, bridging the gap between lab and field experiments.
Article
Robotics
Yaoqi Bao, Yun Pan, Zhe Yang, Ruohong Huan
Summary: The novel SLAM system proposed in this letter fuses semantic information obtained by a deep neural network into direct sparse odometry to improve localization accuracy and build a dense semantic map of urban environments. Point reselection strategy based on coarse semantic plane constraints and point group movement consistency check are used to discard inconsistent points and reduce the impact of dynamic objects. Experimental results show that the method outperforms LDSO in terms of localization accuracy and is capable of building dense semantic maps for better scene understanding.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Multidisciplinary Sciences
Yuchen Zhao, Keying Xie, Qingfei Liu, Yawen Li, Tian Wu
Summary: This paper presents a laser-based navigation system for mobile robots that combines global planning with reinforcement learning-based local trajectory re-planning. The proposed system achieves efficient and robust local planning through Proximal Policy Optimization and asynchronous data generation and training. Extensive experiments show that the system outperforms previous methods and can adapt to different environments and obstacles.
Article
Remote Sensing
Hang Zhu, Yibin Yao, Xiongwei Ma, Qi Zhang
Summary: By fusing multi-frequency and inertial navigation systems, the multi-frequency PPP-RTK/INS model can provide stable and reliable vehicle positioning in urban environments, overcoming the limitations caused by signal interruptions and poor satellite geometries. Experimental results showed that compared to dual-frequency PPP-RTK, the fixing percentage and solution availability were improved by 9.5% and 8.8%, respectively, in the multi-frequency PPP-RTK/INS.
GEO-SPATIAL INFORMATION SCIENCE
(2023)
Article
Computer Science, Information Systems
Filip Dohnal, Martin Hubacek, Katerina Simkova
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2019)
Article
Computer Science, Information Systems
Vaclav Talhofer, Sarka Hoskova-Mayerova
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2019)
Article
Physics, Multidisciplinary
Petr Stodola, Karel Michenka, Jan Nohel, Marian Rybansky
Article
Computer Science, Information Systems
Sarka Hoskova-Mayerova, Vaclav Talhofer, Pavel Otrisal, Marian Rybansky
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2020)
Article
Engineering, Environmental
Marian Rybansky
JOURNAL OF TERRAMECHANICS
(2020)
Article
Computer Science, Information Systems
Josef Rada, Marian Rybansky, Filip Dohnal
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2020)
Article
Computer Science, Information Systems
Josef Rada, Marian Rybansky, Filip Dohnal
Summary: The research in this article aims to develop a methodology for evaluating the impact of terrain surface on the movement of military vehicles due to insufficient soil and surface data. The key method involves the use of tractive charts and coefficients, with an evaluation of their reliability and precision through analyses of data and information sources. The results suggest the need for a methodology to evaluate the traversal of vehicles through different terrains and soils.
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2021)
Article
Engineering, Multidisciplinary
Jan Nohel, Petr Stodola, Zdenek Flasar, Marian Rybansky
Summary: The article discusses the potential use of Maneuver Control System CZ (MCS CZ) in creating coordinated maneuvers for a group of units. The system, designed to assist commanders in decision-making, evaluates various factors such as geography, weather, and enemy situation to determine the optimal maneuver axes for units with the same objective. Through model experiments, the system's calculations have been successfully validated, demonstrating its ability to facilitate fast and synchronized maneuvers according to tactical principles.
JOURNAL OF DEFENSE MODELING AND SIMULATION-APPLICATIONS METHODOLOGY TECHNOLOGY-JDMS
(2023)
Article
Chemistry, Multidisciplinary
Marian Rybansky
Summary: One of the primary purposes of forest fire research is to predict crises and optimize rescue operations. This study presents a model for the Cross-Country Mobility (CCM) of fire brigades in forests using digital surface and elevation models. By determining the forest structure and using growth equations and vegetation curves, optimal paths for rescue vehicles in wooded areas can be modeled.
APPLIED SCIENCES-BASEL
(2022)
Article
Chemistry, Multidisciplinary
Marian Rybansky, Josef Rada
Summary: This study investigates digital terrain models and explores options for evaluating and effectively using them. The introduction of the slope reduction method for low-detail elevation models is a significant result, enabling accurate passability analyses. The research also highlights the potential of elevation databases for cross-country mobility analyses, with recommendations for efficient usage.
APPLIED SCIENCES-BASEL
(2022)
Article
Computer Science, Information Systems
Jiri Drozda, Vaclav Talhofer, Filip Dohnal
Summary: Map production relies on digital geographic data and software tools for processing and visualization. This article proposes a systematic approach to the rules used in the entire technological cycle of map creation and introduces a knowledge ontology database for solving complex problems in topographic map creation.
INTERNATIONAL JOURNAL OF CARTOGRAPHY
(2023)
Proceedings Paper
Computer Science, Artificial Intelligence
Dana Kristalova, Tomas Turo, Jan Nohel, Marian Rybansky, Vlastimil Neumann, Jan Zezula, Marek Hutter
Summary: Geographic data play a crucial role in decision support systems for evaluating the feasibility of planned routes. Micro-relief, though often neglected, is a notable geographical factor that can shape obstacles. By calculating route extensions, it can assist in the planning and decision-making process, especially in time-sensitive situations.
MODELLING AND SIMULATION FOR AUTONOMOUS SYSTEMS (MESAS 2021)
(2022)
Proceedings Paper
Environmental Sciences
M. Rybansky, F. Dohnal, J. Rada
10TH IGRSM INTERNATIONAL CONFERENCE AND EXHIBITION ON GEOSPATIAL & REMOTE SENSING
(2020)
Proceedings Paper
Geography
Martin Hubacek, Martin Bures, Katerina Simkova, Vlastimil Kratochvil
DYNAMICS IN GISCIENCE
(2018)
