Related papers: Towards Large-Scale Relative Localization in Multi…
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…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
We consider the problem of obtaining relative location information between two wireless nodes from the differences in their ultra-wideband (UWB) channels to observer nodes. Our approach focuses on the delays of multipath components (MPCs)…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
In this paper, we investigate ultra-wideband (UWB) localization and tracking in cluttered environments. Instead of mitigating the multipath, we exploit the specular reflections to enhance the localizability and improve the positioning…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
The use of unmanned aerial vehicles (UAV) as flying radio access network (RAN) nodes offers a promising complement to traditional fixed terrestrial deployments. More recently yet still in the context of wireless networks, drones have also…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Precise relative localization is a crucial functional block for swarm robotics. This work presents a novel autonomous end-to-end system that addresses the monocular relative localization, through deep neural networks (DNNs), of two peer…
Unmanned aerial vehicles mounted base stations (UAV-BSs) are expected to become one of the significant components of the Next Generation Wireless Networks (NGWNs). Rapid deployment, mobility, higher chances of unobstructed propagation path,…
Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…
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…
Ultra-wideband (UWB) through-wall radar has a wide range of applications in non-contact human information detection and monitoring. With the integration of machine learning technology, its potential prospects include the physiological…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…