Related papers: A Radio-Inertial Localization and Tracking System …

Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. To address this, we propose a novel RL framework leveraging…

In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…

Using oscillating magnetic fields for indoor positioning is a robust way to resist dynamic environments. This work presents the hard- and software-related optimizations of an induced magnetic field positioning system. We describe a new coil…

The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) service is either unavailable or has unsatisfactory performance.…

Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…

Indoor Positioning Systems (IPS) traditionally rely on odometry and building infrastructures like WiFi, often supplemented by building floor plans for increased accuracy. However, the limitation of floor plans in terms of availability and…

This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…

Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of…

In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…

Our overall aim is focused on exploring whether we could use Bluetooth Low Energy (BLE) technology to track poacher vehicles in remote and rural areas such as Sabah, in Malaysia, especially deep inside the jungle terrain with little or no…

We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…

We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…

Nowadays, indoor localization has received extensive research interest due to more and more applications' needs for location information to provide a more precise and effective service [1], [2]. There are various wireless techniques and…

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…

In this paper, an indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and robotic users. Both single-user and multiple-user…

State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many…

This paper develops a new framework for preventing localization failures in mobile systems that must estimate their state using measurements. Safety is guaranteed by imposing the nonlinear least squares optimization solved in modern…

Legged robot navigation in extreme environments can hinder the use of cameras and laser scanners due to darkness, air obfuscation or sensor damage. In these conditions, proprioceptive sensing will continue to work reliably. In this paper,…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity-induced accelerations. Cost-effective IMUs such as the Pixhawk,…