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The risk of collision between resident space objects has significantly increased in recent years. As a result, spacecraft collision avoidance procedures have become an essential part of satellite operations. To ensure safe and effective…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
This work estimates the position and the transmit power of multiple co-channel wireless transmitters under model uncertainties. The model uncertainties include the number of the targets and the parameters of the path-loss model which enable…
Trajectory planning under uncertainty is an active research topic. Previous works predict state and state estimation uncertainties along trajectories to check for collision safety. They assume either stochastic or bounded sensing…
Mobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFI propagation maps of the access points are modeled deterministically. However, this procedure does not take into…
Due to the large bandwidth available, millimeter-Wave (mmWave) bands are considered a viable opportunity to significantly increase the data rate in cellular and wireless networks. Nevertheless, the need for beamforming and directional…
Learning-augmented algorithms have been attracting increasing interest, but have only recently been considered in the setting of explorable uncertainty where precise values of uncertain input elements can be obtained by a query and the goal…
Building coverage statistics provide crucial insights into the urbanization, infrastructure, and poverty level of a region, facilitating efforts towards alleviating poverty, building sustainable cities, and allocating infrastructure…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New…
Ray tracing (RT) simulations require accurate transmitter (TX) and receiver (RX) location information from real-world measurements to accurately characterize wireless propagation behavior in an environment. Such wireless propagation…
Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…
In 5G communication, arrays are used for both positioning and communication. As the arrays become larger, the far-field assumption is increasingly being violated and curvature of the wavefront should be taken into account. We explicitly…
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…
In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…
Information about primary transmitter location is crucial in enabling several key capabilities in cognitive radio networks, including improved spatio-temporal sensing, intelligent location-aware routing, as well as aiding spectrum policy…
We consider several algorithms for exploring and filling an unknown, connected region, by simple, airborne agents. The agents are assumed to be identical, autonomous, anonymous and to have a finite amount of memory. The region is modeled as…
Location management refers to the problem of updating and searching the current location of mobile nodes in a wireless network. To make it efficient, the sum of update costs of location database must be minimized. Previous work relying on…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…