Related papers: A Robotic Antenna Alignment and Tracking System fo…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This study addresses robust automatic speech recognition (ASR) by introducing a Conformer-based acoustic model. The proposed model builds on the wide residual bi-directional long short-term memory network (WRBN) with utterance-wise dropout…
Ray tracing (RT) simulations require accurate transmitter (TX) and receiver (RX) location information from real-world measurements to accurately characterize wireless propagation behavior in an environment. Such wireless propagation…
Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…
Analog beamforming is a low-cost architecture for millimeter-wave (mmWave) mobile communications. However, it has two disadvantages for serving fast mobility users: (i) the mmWave beam in the wireless channel and the beam steered by analog…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…
In order to cope with the severe path loss, millimeter-wave (mm-wave) systems exploit highly directional communication. As a consequence, even a slight beam misalignment between two communicating devices (for example, due to mobility) can…
This paper presents field measurement-based channel characterization for air--to--ground (A2G) and air--to--air (A2A) wireless communication systems using two drones equipped with lightweight software-defined radios. A correlation-based…
This paper presents results from the (to our knowledge) first dynamic double-directionally resolved measurement campaign at mm-wave frequencies for an outdoor microcellular scenario. The measurements are performed with USC's real-time…
We present a novel system architecture for a distributed wireless, self-calibrating ultrasound microphone network for synchronized in-air acoustic sensing. Once deployed the embedded nodes determine their position in the environment using…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
Latest advances in deep spatial filtering for Ambisonics demonstrate strong performance in stationary multi-speaker scenarios by rotating the sound field toward a target speaker prior to multi-channel enhancement. For applicability in…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
Sensing-assisted predictive beamforming, as one of the enabling technologies for emerging integrated sensing and communication (ISAC) paradigm, shows significant promise for enhancing various future unmanned aerial vehicle (UAV)…
Characterization of the millimeter wave wireless channel is needed to facilitate fully connected vehicular communication in the future. To study the multipath-rich, rapidly varying nature of the vehicular propagation environment, fast…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
Beam training in dynamic millimeter-wave (mm-wave) networks with mobile devices is highly challenging as devices must scan a large angular domain to maintain alignment of their directional antennas under mobility. Device rotation is…
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…