Related papers: Heading Estimation Using Ultra-Wideband Received S…
Localization is one of the most important problems in various fields such as robotics and wireless communications. For instance, Unmanned Aerial Vehicles (UAVs) require the information of the position precisely for an adequate control…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
Manipulating arbitrary objects in unstructured environments is a significant challenge in robotics, primarily due to difficulties in determining an object's center of mass. This paper introduces U-GRAPH: Uncertainty-Guided Rotational Active…
Uncertainty quantification plays a key role in the development of autonomous systems, decision-making, and tracking over wireless sensor networks (WSNs). However, there is a need of providing uncertainty confidence bounds, especially for…
With the fast development of wireless sensor networks (WSN), more attentions are paid to high data rate transmission of WSN, and hence, in IEEE 802.15.4a standard, ultra-wideband (UWB) is introduced as one of the physical layer technique to…
Wireless indoor localization using predictive models with received signal strength information (RSSI) requires proper calibration for reliable position estimates. One remedy is to employ synthetic labels produced by a (generally different)…
Head pose estimation is a challenging task that aims to solve problems related to predicting three dimensions vector, that serves for many applications in human-robot interaction or customer behavior. Previous researches have proposed some…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
A multiple input multiple output ultra-wideband cognitive radar based on compressive sensing is presented in this letter. For traditional UWB radar, high sampling rate analog to digital converter at the receiver is required to meet Shannon…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or places with reflective surfaces (e.g. mirrors). On the other…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
We present a novel decentralized algorithm for coverage control in unknown spatial environments modeled by Gaussian Processes (GPs). To trade-off between exploration and exploitation, each agent autonomously determines its trajectory by…
In recent years WiFi became the primary source of information to locate a person or device indoor. Collecting RSSI values as reference measurements with known positions, known as WiFi fingerprinting, is commonly used in various positioning…
Due to their large bandwidth, relatively low cost, and robust performance, UWB radio chips can be used for a wide variety of applications, including localization, communication, and radar. This article offers an exhaustive survey of recent…
External factors, including urban canyons and adversarial interference, can lead to Global Positioning System (GPS) inaccuracies that vary as a function of the position in the environment. This study addresses the challenge of estimating a…
High time resolution of ultra wideband (UWB) signals facilitates very precise positioning capabilities based on time-of-arrival (TOA) measurements. Although the theoretical lower bound for TOA estimation can be achieved by the maximum…