Related papers: Kernel Methods for Accurate UWB-Based Ranging with…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…
The ability to predict, and thus react to, oncoming collisions among a set of mobile agents is a fundamental requirement for safe autonomous movement, both human and robotic. This paper addresses systems that use range measurements between…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising…
The paper describes an NLOS (Non-Line-of-Sight) mitigation method intended for use in a UWB positioning system. In the proposed method propagation conditions between the localized objects and the anchors forming system infrastructure are…
Timely channel information is necessary for vehicles to determine both the serving base station (BS) and the beamforming vector, but frequent estimation of fast-fading mmWave channels incurs significant overhead. To address this challenge,…
In multi-robot systems, relative localization between platforms plays a crucial role in many tasks, such as leader following, target tracking, or cooperative maneuvering. State of the Art (SotA) approaches either rely on…
In wireless positioning systems, non-line-of-sight (NLOS) is a challenging problem. NLOS causes great ranging bias and location error, so NLOS mitigation is essential for high accuracy positioning. In this letter, we propose the…
Kernel based methods have shown effective performance in many remote sensing classification tasks. However their performance significantly depend on its hyper-parameters. The conventional technique to estimate the parameter comes with high…
Phase-Based Ranging (PBR) offers several advantages for estimating distances between wirelessly connected devices, including high accuracy over large distances and the removal of the need for antenna arrays at each transceiver. This study…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a…
Ultra-wideband (UWB) devices are widely used in indoor localization scenarios. Single-anchor UWB localization shows advantages because of its simple system setup compared to conventional two-way ranging (TWR) and trilateration localization…
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
Online selection of optimal waveforms for target tracking with active sensors has long been a problem of interest. Many conventional solutions utilize an estimation-theoretic interpretation, in which a waveform-specific Cram\'{e}r-Rao lower…
We consider the problem of obtaining relative location information between two wireless nodes from the differences in their ultra-wideband (UWB) channels to observer nodes. Our approach focuses on the delays of multipath components (MPCs)…
Precise indoor positioning systems (IPSs) are key to perform a set of tasks more efficiently during aircraft production, operation and maintenance. For instance, IPSs can overcome the tedious task of configuring (wireless) sensor nodes in…
Learning from structured multi-way data, represented as higher-order tensors, requires capturing complex interactions across tensor modes while remaining computationally efficient. We introduce Uncertainty-driven Kernel Tensor Learning…
Kernel ridge regression (KRR) is widely used for nonparametric regression over reproducing kernel Hilbert spaces. It offers powerful modeling capabilities at the cost of significant computational costs, which typically require $O(n^3)$…
Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy. In this paper, ultra-wideband (UWB) ranging-based T&R is…