Related papers: Stateless and Delivery Guaranteed Geometric Routin…
Routing protocols for Mobile Ad Hoc Networks (MANETs) have been extensively studied for more than fifteen years. Position-based routing protocols route packets towards the destination using greedy forwarding (i.e., an intermediate node…
Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
VANETs (Vehicular Ad hoc Networks) are highly mobile wireless ad hoc networks and will play an important role in public safety communications and commercial applications. Routing of data in VANETs is a challenging task due to rapidly…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Multi-topology routing (MTR) provides an attractive alternative to segment routing for traffic engineering when network devices cannot be upgraded. However, due to a high overhead in terms of link state messages exchanged by topologies and…
Modern powerful reconfigurable systems are suited in the implementation of various data-stream, data-parallel, and other applications. An application that needs real-time, fast, and reliable data processing is the global positioning system…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…
Cooperative vehicle safety (CVS) systems operate based on broadcast of vehicle position and safety information to neighboring cars. The communication medium of CVS is a vehicular ad-hoc network. One of the main challenges in large scale…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
We study the geometry of reachability sets of continuous vector addition systems with states (VASS). In particular we establish that they are almost Minkowski sums of convex cones and zonotopes generated by the vectors labelling the…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Real-time industrial application requires routing protocol that guarantees data delivery with reliable, efficient and low end-to-end delay. Existing Routing(THVR) [13] is based velocity of Two-Hop Velocity and protocol relates two-hop…
This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements in the way of Multi-State Constraint Kalman Filter (MSCKF).…
Autonomous Vehicles (AVs) heavily rely on sensors and communication networks like Global Positioning System (GPS) to navigate autonomously. Prior research has indicated that networks like GPS are vulnerable to cyber-attacks such as spoofing…
Most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existence of singular points where navigation algorithms return…
3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…
Geographic routing protocols greatly reduce the requirements of topology storage and provide flexibility in the accommodation of the dynamic behavior of ad hoc networks. This paper presents performance evaluations and comparisons of two…