Related papers: Towards Large-Scale Relative Localization in Multi…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
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…
Fingerprint-based passive localization enables high localization accuracy using low-cost UWB IoT radio sensors. However, fingerprinting demands extensive effort for data acquisition. The concept of channel charting reduces this effort by…
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…
Positioning has recently received considerable attention as a key enabler in emerging applications such as extended reality, unmanned aerial vehicles and smart environments. These applications require both data communication and…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
Localization is a fundamental challenge for any wireless network of nodes, in particular when the nodes are mobile. We present an extension of the classical Multidimensional scaling (MDS) for an anchorless network of mobile nodes, wherein…
Ultra-wideband positioning systems intended for indoor applications often work in non-line of sight conditions, which result in insufficient precision and accuracy of derived localizations. One of the possible solutions is the…
High accuracy localisation technologies exist but are prohibitively expensive to deploy for large indoor spaces such as warehouses, factories, and supermarkets to track assets and people. However, these technologies can be used to lend…
With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…