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Indoor localization systems face a fundamental trade-off between efficiency and responsiveness, which is especially important for emerging use cases such as mobile robots operating in GPS-denied environments. Traditional RTLS either require…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…
The proliferation of drones, or unmanned aerial vehicles (UAVs), has raised significant safety concerns due to their potential misuse in activities such as espionage, smuggling, and infrastructure disruption. This paper addresses the…
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…
Short Range wireless devices are becoming more and more popular for ubiquitous sensor and actuator connectivity in industrial communication scenarios. Apart from communication-only scenarios, there are also mission-critical use cases where…
Traditional Direction of Arrival (DOA) estimation methods struggle to simultaneously address three physical constraints in Ultra-Wideband (UWB) electromagnetic sensing: spatial undersampling, asynchronous array phase, and beam squint.…
5G New Radio (NR) is a key enabler of accurate positioning in smart cities and smart factories. This paper presents the experimental results from three 5G positioning testbeds running open-source OpenAirInterface (OAI) gNB and Core Network…
The rapid advancements in unmanned aerial vehicles (UAVs) have unlocked numerous applications, including environmental monitoring, disaster response, and agricultural surveying. Enhancing the collective behavior of multiple decentralized…
Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…
Determining assets position with high accuracy and scalability is one of the most investigated technology on the market. The accuracy provided by satellites-based positioning systems (i.e., GLONASS or Galileo) is not always sufficient when…
Unmanned Aerial Vehicles (UAVs) have emerged as a critical component in next-generation wireless networks, particularly for disaster recovery scenarios, due to their flexibility, mobility, and rapid deployment capabilities. This paper…
There has been a growing interest in autonomous systems designed to operate in adverse conditions (e.g. smoke, dust), where the visible light spectrum fails. In this context, Ultra-wideband (UWB) radar is capable of penetrating through such…
Precise relative localization is a crucial functional block for swarm robotics. This work presents a novel autonomous end-to-end system that addresses the monocular relative localization, through deep neural networks (DNNs), of two peer…
The unmanned air-vehicle (UAV) or mini-drones equipped with sensors are becoming increasingly popular for various commercial, industrial, and public-safety applications. However, drones with uncontrolled deployment poses challenges for…
The present work deals with a new passive system for real-time detection, classification and direction of arrival estimator of Unmanned Aerial Vehicles (UAVs). The proposed system composed of a very low cost hardware components, comprises…
Indoor localization systems have become increasingly important in a wide range of applications, including industry, security, logistics, and emergency services. However, the growing demand for accurate localization has heightened concerns…
Micro Air Vehicles (MAVs) will unlock their true potential once they can operate in groups. To this end, it is essential for them to estimate on-board the relative location of their neighbors. The challenge lies in limiting the mass and…
Significant progress has been made in ultrasonic guided wave (UGW) technology for pipe signal processing and defect imaging recently. However, developing a defect localization and imaging algorithm that requires fewer parameters, offers a…