Related papers: A Localization Method Avoiding Flip Ambiguities fo…
This paper studies the optimal unmanned aerial vehicle (UAV) placement problem for wireless networking. The UAV operates as a flying wireless relay to provide coverage extension for a base station (BS) and deliver capacity boost to a user…
We discuss surveillance with multiple unmanned aerial vehicles (UAV) that minimize idleness (the time between consecutive visits of sensing locations) and constrain latency (the time between capturing data at a sensing location and its…
In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…
Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…
This letter considers the unmanned aerial vehicle (UAV)-enabled relay system to deliver command information under ultra-reliable and low-latency communication (URLLC) requirements. We aim to jointly optimize the blocklength allocation and…
Distance estimation plays an important role for path planning and collision avoidance of swarm UAVs. However, the lack of annotated data seriously hinders the related studies. In this work, we build and present a UAVDE dataset for UAV…
In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often…
To date, there are little reliable data on the position, velocity and acceleration characteristics of Unidentified Aerial Phenomena (UAP). The dual hardware and software system described in this document provides a means to address this…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
The demand for future wireless communication systems is being satisfied for various circumstances through unmanned aerial vehicles (UAVs), which act as flying base stations (BSs). In this letter, we propose an ellipse clustering algorithm…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
With the upcoming trends in autonomous driving and urban air mobility, the number of self-navigating vehicles will increase, since they are foreseen for deliveries as well as autonomous taxis among other applications. To this end, a…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
In this paper, a sensing-assisted non-line-of-sight (NLoS) identification method for dynamic uncrewed aerial vehicle (UAV) positioning is proposed for the first time. For urban UAV-to-ground scenarios, a new multi-modal…
We propose a novel method for geolocalizing Unmanned Aerial Vehicles (UAVs) in environments lacking Global Navigation Satellite Systems (GNSS). Current state-of-the-art techniques employ an offline-trained encoder to generate a vector…
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative…
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…