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Unmanned Aerial Vehicles (UAVs) acting as Flying Access Points (FAPs) are being used to provide on-demand wireless connectivity in extreme scenarios. Despite ongoing research, the optimization of UAVs' positions according to dynamic users'…
Unmanned aerial vehicle (UAV)-based base stations offer a promising solution in emergencies where the rapid deployment of cutting-edge networks is crucial for maximizing life-saving potential. Optimizing the strategic positioning of these…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
Remote identification of Unmanned Aerial Vehicles (UAVs) is becoming increasingly important since more UAVs are being widely used for different needs in urban areas. For example, in the US and in the EU, identification and position…
The use of amateur drones (ADrs) is expected to significantly increase over the upcoming years. However, regulations do not allow such drones to fly over all areas, in addition to typical altitude limitations. As a result, there is an…
There have been many research efforts in the area of localization in recent years. Especially within the Internet of Things (IoT), the knowledge of position information for individual components is of great interest, for example, in asset…
This paper investigates security vulnerabilities and countermeasures for the 3rd Generation Partnership Project (3GPP) Fifth Generation New Radio (5G-NR) Time Difference of Arrival (TDoA)-based unmanned aerial vehicle (UAV) localization in…
This study investigates unmanned aerial vehicle (UAV) trajectory planning strategies for localizing a target mobile device in emergency situations. The global navigation satellite system (GNSS)-based accurate position information of a…
Relative localization in the near-field scenario is critically important for unmanned vehicle (UxV) applications. Although related works addressing 2D relative localization problem have been widely studied for unmanned ground vehicles…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
In this paper, the problem of unmanned aerial vehicle (UAV) deployment, power allocation, and bandwidth allocation is investigated for a UAV-assisted wireless system operating at terahertz (THz) frequencies. In the studied model, one UAV…
Unmanned aerial vehicle (UAV) assisted cellular communication is gaining significant interest recently. Although it offers several advantages over terrestrial communication, UAV communication suffers from two main shortcomings. The typical…
Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…
In this paper, a novel cooperation-aided localization and tracking approach, suitable for terahertz (THz) wireless systems is presented. It combines an angle of arrival (AoA) tracking algorithm with the two-way time of arrival method, in…
Accurate indoor localization has long been a challenging problem due to the presence of multipath. Joint direction-of-arrival (DOA) and time delay (TD) estimation is a promising technique for accurate indoor Localization in next generation…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Mobile autonomous systems, robots, and cyber-physical systems rely on accurate positioning information. To conduct distance-measurement, two devices exchange signals and, knowing these signals propagate at the speed of light, the time of…
Wireless high-accuracy positioning has recently attracted growing research interest due to diversified nature of applications such as industrial asset tracking, autonomous driving, process automation, and many more. However, obtaining a…
This paper presents an adaptive anchor pairs selection algorithm for UWB (ultra-wideband) TDOA-based (Time Difference of Arrival) indoor positioning systems. The method assumes dividing the system operation area into zones. The most…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…