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In many applications, robots autonomous deployment is preferable and sometimes it is the only affordable solution. To address this issue, virtual force (VF) is one of the prominent approaches to performing multirobot deployment…
Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…
This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…
The current approach for new Advanced Driver Assistance System (ADAS) and Connected and Automated Driving (CAD) function development involves a significant amount of public road testing which is inefficient due to the number miles that need…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Network virtualization has become a fundamental technology to deliver services for emerging data-intensive applications in fields such as bioinformatics and retail analytics hosted at multi-data center scales. To create and maintain a…
Future global quantum communication networks, or quantum Internet, will realize high-rate secure communication and entanglement distribution for large-scale users over long distances. Continuous variable (CV) quantum key distribution (QKD)…
Accurately estimating traffic variables across unequipped portions of a network remains a significant challenge due to the limited coverage of sensor-equipped links, such as loop detectors and probe vehicles. A common approach is to apply…
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
Vehicular clouds (VCs) play a crucial role in the Internet-of-Vehicles (IoV) ecosystem by securing essential computing resources for a wide range of tasks. This paPertackles the intricacies of resource provisioning in dynamic VCs for…
This paper proposes a distributed stochastic algorithm with variance reduction for general smooth non-convex finite-sum optimization, which has wide applications in signal processing and machine learning communities. In distributed setting,…
Vehicular Ad Hoc Networks (VANETs) are attractive scenarios that can improve the traffic situation and provide convenient services for drivers and passengers via vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication.…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
Cross-view geo-localization (CVGL), which involves matching and retrieving satellite images to determine the geographic location of a ground image, is crucial in GNSS-constrained scenarios. However, this task faces significant challenges…
With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…
GPS-based vehicle localization and tracking suffers from unstable positional information commonly experienced in tunnel segments and in dense urban areas. Also, both Visual Odometry (VO) and Visual Inertial Odometry (VIO) are susceptible to…
Effective traffic prediction is a cornerstone of intelligent transportation systems, enabling precise forecasts of traffic flow, speed, and congestion. While traditional spatio-temporal graph neural networks (ST-GNNs) have achieved notable…
This paper presents GS-RoadPatching, an inpainting method for driving scene completion by referring to completely reconstructed regions, which are represented by 3D Gaussian Splatting (3DGS). Unlike existing 3DGS inpainting methods that…