Related papers: A State Space Technique for Wildlife Position Esti…
For objects of "large" vibration size such as waves on the sea surface, the choice of measurement method can create different understandings of system behavior. In one case, laser vibrometry measurements of a vibrating bar in a controlled…
In this paper, we present a fast and decentralized state estimation framework for the control of legged locomotion. The nonlinear estimation of the floating base states is decentralized to an orientation estimation via Extended Kalman…
The adoption of Unmanned Aerial Vehicles (UAVs) for public safety applications has skyrocketed in the last years. Leveraging on Physical Random Access Channel (PRACH) preambles, in this paper we pioneer a novel localization technique for…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
The aim of this work is to develop a model-based methodology for monitoring lateral track irregularities based on the use of inertial sensors mounted on an in-service train. To this end, a gyroscope is used to measure the wheelset yaw…
Biodiversity is declining at an unprecedented rate, impacting ecosystem services necessary to ensure food, water, and human health and well-being. Understanding the distribution of species and their habitats is crucial for conservation…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
This paper presents a novel multiband passive sensing system that leverages IEEE 802.11bf Wi-Fi signals for environmental sensing, focusing on both sub-7 GHz and millimeter-wave (mmWave) bands. By combining Channel State Information (CSI)…
Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. Despite their benefits for achieving high data rate communications, their potential advantages for tracking of the location of the…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
Measurements of a wide variety of aerial phenomena such as drones, birds, planes, and other aerial objects can in principle be obtained from open access radio detection and ranging equipment. Passive strategies involve existing cell towers…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic…
This study investigates a communication-centric integrated sensing and communication system that utilizes orthogonal time-frequency space (OTFS) modulated signals emitted by low Earth orbit satellites to estimate the parameters of space…
Modeling the trajectories of animals is challenging due to the complexity of their behaviors, the influence of unpredictable environmental factors, individual variability, and the lack of detailed data on their movements. Additionally,…
1. Predicting space use patterns of animals from their interactions with the environment is fundamental for understanding the effect of habitat changes on ecosystem functioning. Recent attempts to address this problem have sought to unify…
In this paper, we propose a general hidden state random walk model to describe the movement of an animal that takes into account movement taxis with respect to features of the environment. A circular-linear process models the direction and…
Statistical mechanics is founded on the assumption that a system can reach thermal equilibrium, regardless of the starting state. Interactions between particles facilitate thermalization, but, can interacting systems always equilibrate…