Related papers: A State Space Technique for Wildlife Position Esti…
Objective Kalman filtering has previously been applied to track neural model states and parameters, particularly at the scale relevant to EEG. However, this approach lacks a reliable method to determine the initial filter conditions and…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
The ability to capture detailed interactions among individuals in a social group is foundational to our study of animal behavior and neuroscience. Recent advances in deep learning and computer vision are driving rapid progress in methods…
This paper presents a new method for imaging, localizing, and tracking motion behind walls in real-time. The method takes advantage of the motion-induced variance of received signal strength measurements made in a wireless peer-to-peer…
An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for…
A measurement setup made of millimeter-wave and ultra wideband transceivers mounted on both a customized UAV and a ground station for full 3D wireless propagation analysis is described in this work. The developed system represents a…
This paper presents a novel and efficient wireless channel estimation scheme based on a tapped delay line (TDL) model of wireless signal propagation, where a data-driven machine learning approach is used to estimate the path delays and…
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…
This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…
In this paper, we study the problem of continuous-time state observation over lossy communication networks. We consider the situation in which the samplers for measuring the output of the plant are spatially distributed and their…
Proximity-based interference is a growing threat to satellite communications, driven by dense multi-orbit constellations and increasingly agile adversarial maneuvers. We propose a hybrid simulation framework that integrates orbital maneuver…
Location-aware networks are of great importance and interest in both civil and military applications. This paper determines the localization accuracy of an agent, which is equipped with an antenna array and localizes itself using wireless…
Nowadays unmanned aerial vehicles (UAVs) are being widely applied to a wealth of civil and military applications. Robust and high-throughput wireless communication is the crux of these UAV applications. Yet, air-to-ground links suffer from…
Advanced mobility concepts such as Urban Air Mobility are emerging in full swing. In that concept, a safe and efficient aviation transportation system will use highly automated aircraft that will transport passengers or cargo at low…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground in the system modeling. The process and measurement models…
This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion…
In this study, a method for predicting unsteady aerodynamic forces under different initial conditions using a limited number of samples based on transfer learning is proposed, aiming to avoid the need for large-scale high-fidelity…
Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…
Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescue. This paper proposes Swarm-LIO: a fully decentralized…