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Ubiquitous mobile devices have catalyzed the development of vehicle crowd sensing (VCS). In particular, vehicle sensing systems show great potential in the flexible acquisition of spatio-temporal urban data through built-in sensors under…
Intersections are critical areas for road safety and traffic efficiency, accounting for a significant portion of vehicle crashes and fatalities. While connected and autonomous vehicle (CAV) technologies offer a promising solution for…
Real-time estimation of vehicle locations and speeds is crucial for developing many beneficial transportation applications in traffic management and control, e.g., adaptive signal control. Recent advances in communication technologies…
Vehicular cloud computing has emerged as a promising paradigm for realizing user requirements in computation-intensive tasks in modern driving environments. In this paper, a novel framework of multi-task offloading over vehicular clouds…
We present two stateless algorithms that guarantee to deliver the message to every device in a designated geographic area: flooding and planar geocasting. Due to the algorithms' statelessness, intermediate devices do not have to keep…
The grand vision of enabling persistent, large-scale 3D visual geometry understanding is shackled by the irreconcilable demands of scalability and long-term stability. While offline models like VGGT achieve inspiring geometry capability,…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…
Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
Cross-view geo-localisation identifies coarse geographical position of an automated vehicle by matching a ground-level image to a geo-tagged satellite image from a database. Despite the advancements in Cross-view geo-localisation,…
Future intelligent transportation systems promise increased safety and energy efficiency. Realization of such systems will require vehicle-to-vehicle (V2V) communication technology. High fidelity V2V communication is, in turn, dependent on…
Automated guided vehicles (AGVs) are widely used in various industries, and scheduling and routing them in a conflict-free manner is crucial to their efficient operation. We propose a loop-based algorithm that solves the online,…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
In this paper, we introduce a close-enough multi-UAV general routing problem (CEMUAVGRP) where a fleet of homogeneous UAVs conduct monitoring tasks containing nodes, each of which has its disk neighborhood, and edges, aiming to minimize the…
Reliable and precise absolute positioning is necessary in the realm of Connected Automated Vehicles (CAV). Global Navigation Satellite Systems (GNSS) provides the foundation for absolute positioning. Recently enhanced Precise Point…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
Geocasting is the delivery of packets to nodes within a certain geographic area. For many applications in wireless ad hoc and sensor networks, geocasting is an important and frequent communication service. The challenging problem in…