Related papers: On the Performance Limits of Map-Aware Localizatio…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…
Tuning parameters is crucial for the performance of localization and mapping algorithms. In general, the tuning of the parameters requires expert knowledge and is sensitive to information about the structure of the environment. In order to…
This paper proposes a high-accuracy radio map construction method tailored for environments where location information is affected by bursty errors. Radio maps are an effective tool for visualizing wireless environments. Although extensive…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…
Location- and context-aware services are emerging technologies in mobile and desktop environments, however, most of them are difficult to use and do not seem to be beneficial enough. Our research focuses on designing and creating a…
Map-based methods for autonomous racing estimate the vehicle's location, which is used to follow a high-level plan. While map-based optimisation methods demonstrate high-performance results, they are limited by requiring a map of the…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
We develop an edge-assisted object recognition system with the aim of studying the system-level trade-offs between end-to-end latency and object recognition accuracy. We focus on developing techniques that optimize the transmission delay of…
In many autonomous mapping tasks, the maps cannot be accurately constructed due to various reasons such as sparse, noisy, and partial sensor measurements. We propose a novel map prediction method built upon the recent success of Low-Rank…
An efficient method is proposed for refining GPS-acquired location coordinates in urban areas using camera images, Google Street View (GSV) and sensor parameters. The main goal is to compensate for GPS location imprecision in dense area of…
The ability of a sensor node to determine its physical location within a network (Localization) is of fundamental importance in sensor networks. Interpretating data from sensors will not be possible unless the context of the data is known;…
We consider the following problem : we have a high-resolution street network of a given city, and low-resolution measurements of traffic within this city. We want to associate to each measurement the set of streets corresponding to the…
Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…