Related papers: Localizing Backscatters by a Single Robot With Zer…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…
To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous…
Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…
Several Internet-of-Things (IoT) applications provide location-based services, wherein it is critical to obtain accurate position estimates by aggregating information from individual sensors. In the recently proposed narrowband IoT (NB-IoT)…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Bistatic backscatter communication facilitates ubiquitous, massive connectivity of passive tags for future Internet-of-Things (IoT) networks. The tags communicate with readers by reflecting carrier emitter (CE) signals. This work addresses…
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized…
This paper presents a lightweight, protocol-agnostic security enhancement for Simultaneous Wireless Information and Power Transfer (SWIPT) in Internet of Things (IoT) applications. Building on a backscatter-based identification mechanism,…
In next-generation wireless systems, providing location-based mobile computing services for energy-neutral devices has become a crucial objective for the provision of sustainable Internet of Things (IoT). Visible light positioning (VLP) has…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in terrestrial and aerial applications and acoustic beacon…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Wireless sensors in extreme environments such as underground, concrete wall, and the human body, can enable a large number of important applications. However, deploying wireless sensors in such environments on a large scale is a great…
This paper presents the WiFi-Sensor-for-Robotics (WSR) toolbox, an open source C++ framework. It enables robots in a team to obtain relative bearing to each other, even in non-line-of-sight (NLOS) settings which is a very challenging…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Backscatter Communication (BackCom) technology has emerged as a promising paradigm for the Green Internet of Things (IoT) ecosystem, offering advantages such as low power consumption, cost-effectiveness, and ease of deployment. While…