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Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies…
Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in harsh environmental conditions and limited range, have…
Since an automotive driving vehicle is controlled by Advanced Driver-Assistance Systems (ADAS) / Automated Driving (AD) functions, the selected sensors for the perception process become a key component of the system. Therefore, the…
LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…
The mobile robot dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of…
General requirements for radar digital signal processing are ionospheric distortion and Doppler dispersion correction, which has historically required radar-specific hardware to implement in real time. Although analog solutions are…
Most existing perception systems rely on sensory data acquired from cameras, which perform poorly in low light and adverse weather conditions. To resolve this limitation, we have witnessed advanced LiDAR sensors become popular in perception…
The number of pedestrian accidents continues to keep climbing. Distraction from smartphone is one of the biggest causes for pedestrian fatalities. In this paper, we develop SaferCross, a mobile system based on the embedded sensors of…
Reconfigurable Intelligent Surfaces (RISs) are expected to be massively deployed in future beyond-5th generation wireless networks, thanks to their ability to programmatically alter the propagation environment, inherent low-cost and…
The operation of an intelligent reflecting surface (IRS) under predictable receiver mobility is investigated. We develop a continuous time system model for multipath channels and discuss the optimal IRS configuration with respect to…
In this paper, we discuss the design of a sliding-correlator channel sounder for 28 GHz propagation modeling on the NSF POWDER testbed in Salt Lake City, UT. Beam-alignment is mechanically achieved via a fully autonomous robotic antenna…
The desirability of the mid-band frequency range (1 - 10 GHz) for federal and commercial applications, combined with the growing applications for commercial indoor use-cases, such as factory automation, opens up a new approach to spectrum…
Radar sensors are low cost, long-range, and weather-resilient. Therefore, they are widely used for driver assistance functions, and are expected to be crucial for the success of autonomous driving in the future. In many perception tasks…
Integrated sensing and communication is a key feature in next-generation wireless networks, enabling joint data transmission and environmental radar sensing on shared spectrum. In multi-user scenarios, simultaneous transmissions cause…
The potential of Wi-Fi backscatter communications systems is immense, yet challenges such as signal instability and energy constraints impose performance limits. This paper introduces FlexScatter, a Wi-Fi backscatter system using a designed…
Risk Limiting Dispatch (RLD) was proposed recently as a mechanism that utilizes information and market recourse to reduce reserve capacity requirements, emissions and achieve other system operator objectives. It induces a set of simple…
Localizing users and mapping the environment using radio signals is a key task in emerging applications such as low-latency communications and safety-critical navigation. Recently introduced multipath-based SLAM methods can jointly localize…
Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapping, on condition that enough environment features are…
The disparity information provided by stereo cameras has enabled advanced driver assistance systems to estimate road area more accurately and effectively. In this paper, a novel disparity transformation algorithm is proposed to extract road…
Highway work zones are critical areas where accidents frequently occur, often due to the proximity of workers to heavy machinery and ongoing traffic. With technological advancements in sensor technologies and the Internet of Things,…