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Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
In a multiuser context, the Bluetooth data from the smartphone could give an approximation of the distance between users. Meanwhile, the Wi-Fi data can be used to calculate the user's position directly. However, both the Wi-Fi-based…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
This paper considers indoor localization using multi-modal wireless signals including Wi-Fi, inertial measurement unit (IMU), and ultra-wideband (UWB). By formulating the localization as a multi-modal sequence regression problem, a…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
Door-status detection, namely recognizing the presence of a door and its status (open or closed), can induce a remarkable impact on a mobile robot's navigation performance, especially for dynamic settings where doors can enable or disable…
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…
Remote monitoring of motor functions is a powerful approach for health assessment, especially among the elderly population or among subjects affected by pathologies that negatively impact their walking capabilities. This is further…
We propose and investigate the inverse problem of identifying magnetized anomalies beneath the Earth using the geomagnetic monitoring. Suppose a collection of magnetized anomalies presented in the shell of the Earth. The presence of the…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
This paper introduces an indoor localization method using fixed reflector objects within the environment, leveraging a base station (BS) equipped with Angle of Arrival (AoA) and Time of Arrival (ToA) measurement capabilities. The…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
Indoor localization services are a crucial aspect for the realization of smart cyber-physical systems within cities of the future. Such services are poised to reinvent the process of navigation and tracking of people and assets in a variety…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
To make physics experiments more directly relevant to everyday life and help students realize how their smart phones or tablets can be used as sensors for scientific measurements, we designed two introductory physics experiments to measure…
Tracking passive magnetic markers plays a vital role in advancing healthcare and robotics, offering the potential to significantly improve the precision and efficiency of systems. This technology is key to developing smarter, more…