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Indoor wireless ranging localization is a promising approach for low-power and high-accuracy localization of wearable devices. A primary challenge in this domain stems from non-line of sight propagation of radio waves. This study tackles a…

The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…

In this paper, we propose rWiFiSLAM, an indoor localisation system based on WiFi ranging measurements. Indoor localisation techniques play an important role in mobile robots when they cannot access good quality GPS signals in indoor…

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…

With the fast development of wireless sensor networks (WSN), more attentions are paid to high data rate transmission of WSN, and hence, in IEEE 802.15.4a standard, ultra-wideband (UWB) is introduced as one of the physical layer technique to…

The large constellations of spacecraft planned for use in cislunar space (on the Lunar surface, in Lunar orbit, and in the vicinity of the Lunar Gateway) require new solutions for positioning, navigation and timing (PNT). Here, I describe…

This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…

We present DIY-IPS - Do It Yourself - Indoor Positioning System, an open-source real-time indoor positioning mobile application. DIY-IPS detects users' indoor position by employing dual-band RSSI fingerprinting of available WiFi access…

This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…

In this paper, we propose a novel Fine-Tuned attribute Weighted Na\"ive Bayes (FT-WNB) classifier to identify the Line-of-Sight (LoS) and Non-Line-of-Sight (NLoS) for UltraWide Bandwidth (UWB) signals in an Indoor Positioning System (IPS).…

Advanced real-time location systems (RTLS) allow for collecting spatio-temporal data from human movement behaviours. Tracking individuals in small areas such as schoolyards or nursing homes might impose difficulties for RTLS in terms of…

Industrial wireless sensor networks are becoming crucial for modern manufacturing. If the sensors in those networks are mobile, the position information, besides the sensor data itself, can be of high relevance. E.g. this position…

Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…

Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…

Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…

Robust and accurate visual-inertial estimation is crucial to many of today's challenges in robotics. Being able to localize against a prior map and obtain accurate and driftfree pose estimates can push the applicability of such systems even…

To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…

On-device localization and tracking are increasingly crucial for various applications. Along with a rapidly growing amount of location data, machine learning (ML) techniques are becoming widely adopted. A key reason is that ML inference is…

Recognizing movements during sleep is crucial for the monitoring of patients with sleep disorders, and the utilization of ultra-wideband (UWB) radar for the classification of human sleep postures has not been explored widely. This study…

Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…