Related papers: Ultra-Wideband Teach and Repeat
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
Autonomous deployment of unmanned aerial vehicles (UAVs) supporting next-generation communication networks requires efficient trajectory planning methods. We propose a new end-to-end reinforcement learning (RL) approach to UAV-enabled data…
Accurate and robust positioning in multipath environments can enable many applications, such as search-and-rescue and asset tracking. For this problem, ultra-wideband (UWB) technology can provide the most accurate range estimates, which are…
This paper presents Virtual Teach and Repeat (VirT&R): an extension of the Teach and Repeat (T&R) framework that enables GPS-denied, zero-shot autonomous ground vehicle navigation in untraversed environments. VirT&R leverages aerial imagery…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
Unmanned aerial base stations (UABSs) can be deployed in vehicular wireless networks to support applications such as extended sensing via vehicle-to-everything (V2X) services. A key problem in such systems is designing algorithms that can…
Towards employing low complexity transceivers for signal reception in Ultra-Wideband (UWB) systems, Transmitted Reference (TR) and Differential TR (DTR) schemes have attracted researchers attention. In this letter, we introduce an…
Ultra-wideband (UWB) communication is an emerging wireless technology that promises high data rates over short distances and precise locationing. The large available bandwidth and the constraint of a maximum power spectral density drives a…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
Ultra-high data rates with low-power consumption wireless communications and low-complexity receivers is one of the key requirements for the next 6-th Generation (6G) of communication networks. Sub-Terahertz (SubTHz) frequency bands can…
The fine timing measurement (FTM) protocol is designed to determine precise ranging between Wi-Fi devices using round-trip time (RTT) measurements. However, the multipath propagation of radio waves generates inaccurate timing information,…
Rodents have long been established as the premier model for behavioral studies, traditionally raised and maintained in conventional cage environments. However, these settings often limit rodents' ability to exhibit their full range of…
We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over time and are initially unknown. We use weighted Bayesian…
In order to mitigate the distance reduction attack in Ultra-Wide Band (UWB) ranging, this paper proposes a secure ranging scheme based on a random time-hopping mechanism without redundant signaling overhead. Additionally, a secure ranging…
The field of human activity recognition has evolved significantly, driven largely by advancements in Internet of Things (IoT) device technology, particularly in personal devices. This study investigates the use of ultra-wideband (UWB)…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…