Related papers: Towards Large-Scale Relative Localization in Multi…
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they carry a specific devices with them. To achieve this "device…
Indoor positioning systems based on Ultra-wideband (UWB) technology are gaining recognition for their ability to provide cm-level localization accuracy. However, these systems often encounter challenges caused by dense multi-path fading,…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
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…
In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly strongly depends on the network geometry. This motivates the problem of planning robot…
This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals…
Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and…
Localization accuracy is of paramount importance for the proper operation of underwater optical wireless sensor networks (UOWSNs). However, underwater localization is prone to hostile environmental impediments such as drifts due to the…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
Indoor localization systems face a fundamental trade-off between efficiency and responsiveness, which is especially important for emerging use cases such as mobile robots operating in GPS-denied environments. Traditional RTLS either require…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
The vivid success of the emerging wireless sensor technology (WSN) gave rise to the notion of localization in the communications field. Indeed, the interest in localization grew further with the proliferation of the wireless sensor network…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…
Ultra-Wideband (UWB) is one of the key technologies empowering the Internet of Thing (IoT) concept to perform reliable, energy-efficient, and highly accurate monitoring, screening, and localization in indoor environments. Performance of…
Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…