Stanford
Navigation and Autonomous Vehicles Lab
Navigation and Autonomous Vehicles (NAV) Lab

Resources

Code

[Related Literature]: Keidai Iiyama*, Guillem Casadeus Vila*, and Grace Gao, LuPNT: Open-Source Simulator for Lunar Positioning, Navigation, and Timing, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2023), Denver, CO, Sep 2023.   [paper] [slides] 

[Related Literature]: Derek Knowles*, Ashwin V. Kanhere*, Sriramya Bhamidipati, and Grace Gao, A Modular and Extendable GNSS Python Library, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2022), Denver, CO, Sep 2022. [paper] [slides] [video]

[Related Literature]: Derek Knowles*, Ashwin V. Kanhere*, and Grace Gao, Localization and Fault Detection Baselines From an Open-Source Python GNSS Library, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2023), Denver, CO, Sep 2023.

  • GNSS Positioning using Deep Neural Networks [code]

[Related Literature]: Ashwin V. Kanhere*, Shubh Gupta*, Akshay Shetty and Grace Gao, Improving GNSS Positioning using Neural Network-based Corrections, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2021), St. Louis, MO, Sep 2021. Accepted. [paper] [slides] [video]

[Related Literature]: Shreyas Kousik, Adam Dai and Grace Gao, Ellipsotopes: Combining Ellipsoids and Zonotopes for Reachability Analysis and Fault Detection, IEEE Transactions on Automatic Control. Submitted. [paper]

  • Constrained Neural Network Training [code]

[Related Literature]: Long Kiu Chung*, Adam Dai*, Derek Knowles, Shreyas Kousik and Grace X. Gao, Constrained Feedforward Neural Network Training via Reachability Analysis, NRobotics: Science and Systems (RSS 2021) Robotics for People (R4P) Workshop, Jul 2021. [paper]

  • An open-source parallelized direct position estimation-based GPS receiver [code]

[Related Literature]: Matthew Peretic and Grace X. Gao, Design of a Parallelized Direct Position Estimation-Based GNSS Receiver, Navigation: Journal of the Institute of Navigation, vol. 68, no. 1, pp. 21-39, Dec 2020. doi: 10.1002/navi.402. [paper]

  • LiDAR odometry implementation using the Normal Distributions Transform (NDT) and measurement consensus. [code]

[Related Literature]: Ashwin Kanhere and Grace X. Gao, LiDAR SLAM Utilizing Normal Distribution Transform and Measurement Consensus, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides]

Datasets

[Related Literature]: Akshay Shetty and Grace X. Gao, UAV Pose Estimation Using Cross-view Geolocalization with Satellite Imagery, Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [paper] [video]

  • Hardware-in-the-loop GPS & PMU integrated datasets for the power grid under GPS spoofing attacks [dataset][description]

[Related Literature]: Shubhendra Chauhan and Grace X. Gao, Hardware-In-the-Loop GPS and PMU Integrated Datasets for the Power Grid Under GPS Spoofing Attacks, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper] [slides] [video]