Related papers: Cooperative Localization Utilizing Reinforcement L…
Connected and Autonomous Vehicles (CAVs) require continuous access to sensory data to perform complex high-speed maneuvers and advanced trajectory planning. High priority CAVs are particularly reliant on extended perception horizon…
Upcoming beyond fifth generation (5G) communications systems aim at further enhancing key performance indicators and fully supporting brand new use cases by embracing emerging techniques, e.g., reconfigurable intelligent surface (RIS),…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
This paper explores an integrated approach for improved sensing and positioning with applications in air traffic management (ATM) and in the Advanced Surface Movement Guidance and Control System (A-SMGCS). The integrated approach includes…
The automotive and railway industries are rapidly transforming with a strong drive towards automation and digitalization, with the goal of increased convenience, safety, efficiency, and sustainability. Since assisted and fully automated…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Accurate positioning is paramount for a wide array of location-based services (LBS) in fifth-generation (5G) wireless networks. Recent advances in 5G New Radio (NR) technology holds promise for very high-precision positioning services. Yet,…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
Accurate localization is critical for vehicle-to-infrastructure (V2I) communication systems, especially in urban areas where GPS signals are often obstructed by tall buildings, leading to significant positioning errors, necessitating…
Millimeter Wave (mmWave) is an important part of 5G new radio (NR), in which highly directional beams are adapted to compensate for the substantial propagation loss based on UE locations. However, the location information may have some…
In this paper, we develop an algorithm for joint handover and beam tracking in millimeter-wave (mmWave) networks. The aim is to provide a reliable connection in terms of the achieved throughput along the trajectory of the mobile user while…
The advent of fifth generation (5G) networks has opened new avenues for enhancing connectivity, particularly in challenging environments like remote areas or disaster-struck regions. Unmanned aerial vehicles (UAVs) have been identified as a…
A critical requirement for automated driving systems is enabling situational awareness in dynamically changing environments. To that end vehicles will be equipped with diverse sensors, e.g., LIDAR, cameras, mmWave radar, etc. Unfortunately…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
High-accurate localization is crucial for the safety and reliability of autonomous driving, especially for the information fusion of collective perception that aims to further improve road safety by sharing information in a communication…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
For reliable millimeter-wave (mmWave) networks, this paper proposes cooperative sensing with multi-camera operation in an image-to-decision proactive handover framework that directly maps images to a handover decision. In the framework,…