Stable Multi-Drone GNSS Tracking System for Marine Robots

• URL: http://arxiv.org/abs/2511.18694v1
• Date: Mon, 24 Nov 2025 02:28:31 GMT
• Title: Stable Multi-Drone GNSS Tracking System for Marine Robots
• Authors: Shuo Wen, Edwin Meriaux, Mariana Sosa Guzmán, Zhizun Wang, Junming Shi, Gregory Dudek,
• Abstract summary: We present a scalable multi-drone-based tracking system for surface and near-surface marine robots.<n>Our approach combines efficient visual detection, lightweight multi-object tracking, and a confidence-weighted Extended Kalman Filter (EKF) to provide stable estimation in real time.
• Score: 7.911692711262891
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate localization is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals are unreliable or unavailable even at a very short distance below the water surface. Traditional alternatives, such as inertial navigation, Doppler Velocity Loggers (DVL), SLAM, and acoustic methods, suffer from error accumulation, high computational demands, or infrastructure dependence. In this work, we present a scalable multi-drone GNSS-based tracking system for surface and near-surface marine robots. Our approach combines efficient visual detection, lightweight multi-object tracking, GNSS-based triangulation, and a confidence-weighted Extended Kalman Filter (EKF) to provide stable GNSS estimation in real time. We further introduce a cross-drone tracking ID alignment algorithm that enforces global consistency across views, enabling robust multi-robot tracking with redundant aerial coverage. We validate our system in diversified complex settings to show the scalability and robustness of the proposed algorithm.

Related papers

• RoboTracer: Mastering Spatial Trace with Reasoning in Vision-Language Models for Robotics [53.053660003572965]
  We propose RoboTracer, a 3D-aware VLM that first achieves both 3D spatial referring and measuring.<n>RoboTracer advances multi-step metric-grounded reasoning via reinforcement fine-tuning.<n>We present TraceSpatial-Bench, a challenging benchmark to evaluate spatial tracing.
  arXiv  Detail & Related papers  (2025-12-15T18:52:43Z)
• GNSS Jammer Direction Finding in Dynamic Scenarios Using an Inertial-based Multi-Antenna System [0.9495419834771476]
  Jamming devices disrupt signals from the global navigation satellite system (GNSS)<n>In this paper, we utilize a two-times-two patch antenna system to predict the angle, elevation, and distance to the jamming source.<n>We present a synthetic aperture system that enables coherent spatial imaging using platform motion.
  arXiv  Detail & Related papers  (2025-11-23T20:12:36Z)
• Optimizing Earth-Moon Transfer and Cislunar Navigation: Integrating Low-Energy Trajectories, AI Techniques and GNSS-R Technologies [0.0]
  cislunar activities, including lunar landings, require cost-efficient trajectory design and reliable integration of navigation and remote sensing.<n>Traditional Earth-Moon transfers suffer from rigid launch windows and high propellant demands, while Earth-based systems provide little to no coverage beyond geostationary orbit.<n>This review compares four major transfer strategies by evaluating velocity requirements, flight durations, and fuel efficiency, and by identifying their suitability for both crewed and robotic missions.
  arXiv  Detail & Related papers  (2025-11-05T04:41:43Z)
• NOVA: Navigation via Object-Centric Visual Autonomy for High-Speed Target Tracking in Unstructured GPS-Denied Environments [56.35569661650558]
  We introduce NOVA, a fully onboard, object-centric framework that enables robust target tracking and collision-aware navigation.<n>Rather than constructing a global map, NOVA formulates perception, estimation, and control entirely in the target's reference frame.<n>We validate NOVA across challenging real-world scenarios, including urban mazes, forest trails, and repeated transitions through buildings with intermittent GPS loss.
  arXiv  Detail & Related papers  (2025-06-23T14:28:30Z)
• Scalable Aerial GNSS Localization for Marine Robots [6.506995182982002]
  This paper proposes an aerial drone equipped with scalable localization to track and localize a marine robot once it is near the surface of the water.<n>Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization.
  arXiv  Detail & Related papers  (2025-05-07T03:18:59Z)
• Low-altitude UAV Friendly-Jamming for Satellite-Maritime Communications via Generative AI-enabled Deep Reinforcement Learning [72.23178920029957]
  This paper presents a satellite-maritime communication system assisted by low-altitude unmanned aerial vehicle (UAV) friendly-jamming.<n>We formulate a secure satellite-maritime communication multi-objective optimization problem (SSMCMOP)<n>In order to solve the dynamic and long-term optimization problem, we reformulate it into a Markov decision process.<n>We then propose a transformer-enhanced soft actor-critic (TransSAC) algorithm, which is a generative artificial intelligence-enabled deep reinforcement learning approach.
  arXiv  Detail & Related papers  (2025-01-26T10:13:51Z)
• Uncovering GNSS Interference with Aerial Mapping UAV [0.0]
  We propose a method that combines advanced flight dynamics with high-performance consumer receivers to detect interference over large areas. The proposed system can detect interference sources and map their area of influence, gaining situational awareness of poor quality or denied environments.
  arXiv  Detail & Related papers  (2024-05-13T10:21:03Z)
• Sky-GVIO: an enhanced GNSS/INS/Vision navigation with FCN-based sky-segmentation in urban canyon [3.870599032599567]
  In urban canyon environments, the vulnerability of a stand-alone sensor and non-line-of-sight (NLOS) caused by high buildings seriously affect positioning results. To address these challenges, a sky-view images segmentation algorithm based on Fully Convolutional Network (FCN) is proposed for NLOS detection. A novel NLOS detection and mitigation algorithm (named S-NDM) is extended to the tightly coupled Global Navigation Satellite Systems (GNSS), Inertial Measurement Units (IMU), and visual feature system called Sky-GVIO.
  arXiv  Detail & Related papers  (2024-04-17T04:59:36Z)
• Angle Robustness Unmanned Aerial Vehicle Navigation in GNSS-Denied Scenarios [66.05091704671503]
  We present a novel angle navigation paradigm to deal with flight deviation in point-to-point navigation tasks. We also propose a model that includes the Adaptive Feature Enhance Module, Cross-knowledge Attention-guided Module and Robust Task-oriented Head Module.
  arXiv  Detail & Related papers  (2024-02-04T08:41:20Z)
• Automated classification of pre-defined movement patterns: A comparison between GNSS and UWB technology [55.41644538483948]
  Real-time location systems (RTLS) allow for collecting data from human movement patterns. The current study aims to design and evaluate an automated framework to classify human movement patterns in small areas.
  arXiv  Detail & Related papers  (2023-03-10T14:46:42Z)
• SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots [112.2491765424719]
  We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal. We use model predictive control (SMPC) to calculate control inputs that satisfy robot dynamics, and consider uncertainty during obstacle avoidance with chance constraints. recurrent neural networks are used to provide a quick estimate of future state uncertainty considered in the SMPC finite-time horizon solution. A Deep Q-learning agent is employed to serve as a high-level path planner, providing the SMPC with target positions that move the robots towards a desired global goal.
  arXiv  Detail & Related papers  (2021-08-03T02:56:21Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.