Related papers: Modified CRB for Location and Velocity Estimation …
An adaptive Monte Carlo localization algorithm based on coevolution mechanism of ecological species is proposed. Samples are clustered into species, each of which represents a hypothesis of the robots pose. Since the coevolution between the…
A blind target detector using the time reversal transmission is proposed in the presence of channel correlation. We calculate the exact moments of the test statistics involved. The derived moments are used to construct an accurate…
Radio-frequency simultaneous localization and mapping (RF-SLAM) methods jointly infer the position of mobile transmitters and receivers in wireless networks, together with a geometric map of the propagation environment. An inferred map of…
We introduce a technique to mitigate the effects of low frequency noise on precision timing. The example of Dark Count Noise Rate (DCR) in Silicon Photomultipliers (SiPMs) is emphasized. This technique exploits the correlation between time…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
Wireless high-accuracy positioning has recently attracted growing research interest due to diversified nature of applications such as industrial asset tracking, autonomous driving, process automation, and many more. However, obtaining a…
The concept of cognitive radar (CR) enables radar systems to achieve intelligent adaption to a changeable environment with feedback facility from receiver to transmitter. However, the implementation of CR in a fast-changing environment…
In order to meet the theoretically achievable imaging performance, calibration of modern radio interferometers is a mandatory challenge, especially at low frequencies. In this perspective, we propose a novel parallel iterative…
We derive a quantum Cram\'er-Rao bound (QCRB) on the error of estimating a time-changing signal. The QCRB provides a fundamental limit to the performance of general quantum sensors, such as gravitational-wave detectors, force sensors, and…
Spatio-temporal forecasting is challenging attributing to the high nonlinearity in temporal dynamics as well as complex location-characterized patterns in spatial domains, especially in fields like weather forecasting. Graph convolutions…
The carrier phase of cellular signals can be utilized for highly accurate positioning, with the potential for orders-of-magnitude performance improvements compared to standard time-difference-of-arrival positioning. Due to the integer…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
Distributed AI inference pipelines rely heavily on timestamp-based observability to understand system behavior. This work demonstrates that even small clock skew between nodes can cause observability to become causally incorrect while the…
Efficient localization in underwater sensor networks faces challenges due to limited bandwidth, energy constraints, and hardware complexity. Traditional systems separate sensing and communication, often resulting in inefficient resource…
We address path-planning for a mobile agent to navigate in an unknown environment with minimum exposure to a spatially and temporally varying threat field. The threat field is estimated using pointwise noisy measurements from a mobile…
Bayesian learning aided massive antenna array based THz MIMO systems are designed for spatial-wideband and frequency-wideband scenarios, collectively termed as the dual-wideband channels. Essentially, numerous antenna modules of the THz…
Event-based cameras are increasingly utilized in various applications, owing to their high temporal resolution and low power consumption. However, a fundamental challenge arises when deploying multiple such cameras: they operate on…
Integrated sensing and communication (ISAC) holds great promise in expanding the applications of wireless communication networks. However, in current communication-centric systems, the time-frequency resources available for sensing may be…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…