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Author

A. Aguiar

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2 papers indexed here

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Preprint Oct 2026

Monte Carlo-Based Indoor UAV Localization in Dynamic Environments Using Only Four Onboard Range Sensors

Indoor UAV localization with minimal onboard sensing remains challenging, particularly in dynamic environments. We propose augmented filtered Monte Carlo localization (AF-MCL) for 2D localization using only four single-point range sensors and measured heading. AF-MCL rejects range measurements inconsistent with the kno...

Mohammad Reza Ranjbar Divkoti, A. Aguiar · 0 citations
Preprint Sep 2026

Learning-Based Dynamic Obstacle Avoidance for a UAV Using Only Three Range Sensors

We present a learning-based approach to kinodynamic online motion planning for an Unmanned Aerial Vehicle (UAV) operating at a fixed altitude in unknown dynamic environments, where real-time avoidance of both static and dynamic obstacles must be achieved under conditions of extreme partial observability. The UAV is con...

Mohammad Reza Ranjbar Divkoti, A. Aguiar · 0 citations

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