Related papers: Underwater Node Localization using Optoacoustic Si…
Visible light positioning has the potential to yield sub-centimeter accuracy in indoor environments, yet conventional received signal strength (RSS)-based localization algorithms cannot achieve this because their performance degrades from…
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent localization framework using a factor-graph representation…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
The quasi-optical propagation of millimeter-wave signals enables high-accuracy localization algorithms that employ geometric approaches or machine learning models. However, most algorithms require information on the indoor environment, may…
Accurate indoor node localization is critical for practical Wireless Sensor Network (WSN) applications, as Global Positioning System (GPS) fails to provide reliable Line-of-Sight (LoS) conditions in most indoor environments. Real-world…
This paper presents a novel approach for indoor acoustic source localization using microphone arrays and based on a Convolutional Neural Network (CNN). The proposed solution is, to the best of our knowledge, the first published work in…
We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
How to self-localize large teams of underwater nodes using only noisy range measurements? How to do it in a distributed way, and incorporating dynamics into the problem? How to reject outliers and produce trustworthy position estimates? The…
Localization plays a key role for safe operation of UAVs enabling beyond visual line of sight applications. Compared to GPS based localization, cellular networks can reduce the positioning error and cost since cellular connectivity is…
A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles…
Underwater acoustic technologies are a key component for exploring the behavior of marine megafauna such as sea turtles, sharks, and seals. The animals are marked with acoustic devices (tags) that periodically emit signals encoding the…
We propose a localization algorithm for wireless sensor networks, which is simple in design, does not involve significant overhead and yet provides acceptable position estimates of sensor nodes. The algorithm uses settled nodes as beacon…
Effective indoor positioning is critical for public safety, enabling first responders to locate at-risk individuals accurately during emergency scenarios. However, traditional Global Navigation Satellite Systems (GNSS) often perform poorly…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…
We introduce a Bayesian estimation approach for the passive localization of an acoustic source in shallow water using a single mobile receiver. The proposed probabilistic focalization method estimates the time-varying source location in the…
Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance estimation from time-of-flight measurements of wireless…
GNSS (Global Navigation Satellite System) positioning is not available underwater due to the very short range of electromagnetic waves in the sea water medium. In this article a LBL (Long Base Line) acoustic repeater system of the GNSS…