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Navigation in GPS Denied/Degraded Environments

Today, the vast majority of widely deployed autonomous systems like driverless cars and aerial drones are dependent on the use of Global Navigation Satellite Systems (GNSS), such as a GPS. However, GNSS signals are very susceptible to signal blockage — for example, they cannot be reliably used indoors, in urban canyons, or in densely forested areas. The blockage could also be unintentional or intentional interference. Because of this, there is great research interest in developing reliable alternatives to localization and navigation of autonomous systems in these environments. The Statler College has a track-record of developing technologies for GPS denied navigation using multi-sensor fusion, cooperative agents and active perception for a variety of autonomous systems. 

Affiliated Faculty

Recent Publications

  1. Sivaneri, V., Gross, J. " UGV-to-UAV Cooperative Ranging for Robust Navigation in GNSS-Challenged Environments," Aerospace Science and Technology, Vol. 71, 12/2017, pp. 245-255 .
  2. Watson, R. M., Gross, J.N., Taylor, C.N., Leishman, R. C., " Robust Incremental State Estimation Through Covariance Adaptation", IEEE Robotics and Automation Letters, Vol 5., No. 5, pp. 3737 - 3744 , April 2020.
  3. Watson, R. M., Gross, J. N., Taylor, C. N., Leishman, R. C., “ Enabling Robust State Estimation through Measurement Error Covariance Adaptation”. IEEE Transactions on Aerospace and Electronic Systems, 2019. Vol. 56, No. 3 , pp. 2026-2040, June 2020.
  4. Alnuaimi M., Perhinschi, M. G., “Investigation of Alternative Parameters for Immunity-based UAV Navigation in GNSS-denied Environment“, Unmanned Systems, Vol. 9, No. 1 (2021), pp 65-72,, Jan. 2021
  5. Alnuaimi M., Perhinschi, M. G., “Alternative Approaches for UAV Dead Reckoning Based on the Immunity Paradigm“,Aerospace Science and Technology, Vol. 98,, March 2020
  6. Alnuaimi M., Perhinschi M. G., Al-Sinbol G., “Immunity-based Framework for Autonomous Flight in GNSS-denied Environment“, International Review of Aerospace Engineering, Vol. 12, No 6, pp 239-249,, Dec. 2019
  7. Chiella, A. C. B , Machado, H. N. , Teixeira, B. O., and Pereira, G. A. S., " GNSS/LiDAR-Based Navigation of an Aerial Robot in Sparse Forests", Sensors, vol 19, issue 19, pp. 4061, 2019.