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Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
In this paper, two regional robust secure precise wireless transmission (SPWT) schemes for multi-user unmanned aerial vehicle (UAV) :1) regional signal-to-leakage-and-noise ratio (SLNR) and artificial-noise-to-leakage-and-noise ratio…
The proposed Next Linear Collider (NLC) contains linac systems operating at L,S,C, and X band. This paper describes a wideband modular low-level RF (LLRF) system applicable for all NLC pulsed RF systems. High speed digital IF techniques are…
Indoor wireless simultaneous localization and mapping (SLAM) is considered as a promising technique to provide positioning services in future 6G systems. However, the accuracy of traditional wireless SLAM system heavily relies on the…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…
This paper presents a novel tightly-coupled monocular visual-inertial Simultaneous Localization and Mapping algorithm, which provides accurate and robust localization within the globally consistent map in real time on a standard CPU. This…
Mobile networks have become ubiquitous, but running experiments on them is expensive and hard, given their complexity and diversity. Emulation can be the solution, and, with ERRANT, we offer a realistic emulator of mobile networks based on…
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
We analyze a global sensing scenario in which the frequency of a monitored Kerr parametric oscillator is estimated assuming limited prior information. The frequency is estimated in real-time by continuously monitoring the oscillator…
We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an…
Indoor self-localization is a highly demanded system function for smartphones. The current solutions based on inertial, radio frequency, and geomagnetic sensing may have degraded performance when their limiting factors take effect. In this…
It is critical for probes landing on foreign planetary bodies to be able to robustly identify and avoid hazards - as, for example, steep cliffs or deep craters can pose significant risks to a probe's landing and operational success. Recent…
The use of eXtended Reality (XR) technologies in the space domain has increased significantly over the past few years as it can offer many advantages when simulating complex and challenging environments. Space agencies are currently using…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Localization of radio frequency (RF) sources has critical applications, including search and rescue, jammer detection, and monitoring of hostile activities. Unmanned aerial vehicles (UAVs) offer significant advantages for RF source…