Related papers: A Robotic Antenna Alignment and Tracking System fo…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
Millimeter wave wireless systems rely heavily on directional communication in narrow steerable beams. Tools to measure the spatial and temporal nature of the channel are necessary to evaluate beamforming and related algorithms. This paper…
This paper introduces a method for designing spatially intelligent robot swarm behaviors to localize concealed radio emitters. We use differential evolution to generate geometric patrol routes that localize unknown signals independently of…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
The changes in phase, time and frequency suffered by signals when retransmitted by a remote and inaccessible transponder and the propagation delays are major constraints to obtain accurate ranging measurements in various related…
With increasingly more powerful compute capabilities and resources in today's devices, traditionally compute-intensive automatic speech recognition (ASR) has been moving from the cloud to devices to better protect user privacy. However, it…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped robot acting as a dynamic docking pad.…
Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…
We present the implementation of an adaptive Transformer-based localization system for 5G massive MIMO targeting sub-10ms real-time positioning. The design exploits propagation characteristics, where beam-delay channel representations…
In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer based on the reliability-weighted phase transform (RWPHAT)…
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
This work proposes a novel distributed control framework in which a team of pursuer agents equipped with a radio jamming device cooperate in order to track and radio-jam a rogue target in 3D space, with the ultimate purpose of disrupting…
Movable antenna (MA) introduces a new degree of freedom for future wireless communication systems by enabling the adaptive adjustment of antenna positions. Its large-range movement renders wireless channels transmission into the near-field…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
Location-aided beam alignment has been proposed recently as a potential approach for fast link establishment in millimeter wave (mmWave) massive MIMO (mMIMO) communications. However, due to mobility and other imperfections in the estimation…
We present a new approach to tracking of radiation sources moving on smooth trajectories which can be approximated with piece-wise linear joins or piece-wise linear parabolas. We employ the use of cheap binary proximity sensors which only…
The millimeter wave (mmWave) bands have attracted considerable attention for high precision localization applications due to the ability to capture high angular and temporal resolution measurements. This paper explores mmWave-based…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
Quantifying greenhouse-gases (GHG) in wetlands is critical for climate modeling and restoration assessment, yet manual sampling is labor-intensive, and time demanding. We present WetExplorer, an autonomous tracked robot that automates the…