Related papers: Ultra-Wideband Teach and Repeat
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
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…
In the article, we describe a trajectory planning problem for a 6-DOF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of…
Traditional exteroceptive sensors in mobile robots, such as LiDARs and cameras often struggle to perceive the environment in poor visibility conditions. Recently, radar technologies, such as ultra-wideband (UWB) have emerged as potential…
Ultra-wideband (UWB) technology has become very popular for indoor positioning and distance estimation (DE) systems due to its decimeter-level accuracy achieved when using time-of-flight-based techniques. Techniques for DE relying on signal…
Using low-frequency (UHF to L-band) ultra-wideband (UWB) synthetic aperture radar (SAR) technology for detecting buried and obscured targets, e.g. bomb or mine, has been successfully demonstrated recently. Despite promising recent progress,…
Mobile autonomous systems, robots, and cyber-physical systems rely on accurate positioning information. To conduct distance-measurement, two devices exchange signals and, knowing these signals propagate at the speed of light, the time of…
In this paper, we develop an algorithm for joint handover and beam tracking in millimeter-wave (mmWave) networks. The aim is to provide a reliable connection in terms of the achieved throughput along the trajectory of the mobile user while…
The integration of Reconfigurable Intelligent Surfaces (RIS) in 6G wireless networks offers unprecedented control over communication environments. However, identifying optimal configurations within practical constraints remains a…
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…
The connectivity-aware path design is crucial in the effective deployment of autonomous Unmanned Aerial Vehicles (UAVs). Recently, Reinforcement Learning (RL) algorithms have become the popular approach to solving this type of complex…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns…
This paper presents the ultra-wideband (UWB) on-body radio channel modelling using a sub-band Finite-Difference Time-Domain (FDTD) method and a model combining the uniform geometrical theory of diffraction (UTD) and ray tracing (RT). In the…
Two-way relaying networks (TWRNs) allow for more bandwidth efficient use of the available spectrum since they allow for simultaneous information exchange between two users with the assistance of an intermediate relay node. However, due to…
Due to spectrum scarcity and increasing wireless capacity demands, terahertz (THz) communications at 0.1-10THz and the corresponding spectrum characterization have emerged to meet diverse service requirements in future 5G and 6G wireless…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
Time-of-flight-based ranging among transceivers with different clocks requires protocols that accommodate varying rates of the clocks. Double-sided two-way ranging (DS-TWR) is widely adopted as a standard protocol due to its accuracy;…
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…