Related papers: Multi-Agent Relative Pose Estimation with UWB and …
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…
The ability to track a user's arm pose could be valuable in a wide range of applications, including fitness, rehabilitation, augmented reality input, life logging, and context-aware assistants. Unfortunately, this capability is not readily…
Multi-robot mapping with neural implicit representations enables the compact reconstruction of complex environments. However, it demands robustness against communication challenges like packet loss and limited bandwidth. While prior works…
Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity services, such as UWB tagless gate (UTG), thanks to centimeter-level localization accuracy based on two different ranging methods such as downlink…
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…
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…
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…
We consider the problem of localization and distance estimation between a pair of wireless nodes in a multipath propagation environment, but not the usual way of processing a channel measurement between them. We propose a novel paradigm…
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…
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
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…
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy. In this paper, ultra-wideband (UWB) ranging-based T&R is…
In recent years, UWB has garnered widespread attention in academia and industry due to its low power consumption, wide bandwidth, and high time resolution characteristics. This paper introduces the design of an asynchronous IR-UWB…
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…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
There has been a growing interest in autonomous systems designed to operate in adverse conditions (e.g. smoke, dust), where the visible light spectrum fails. In this context, Ultra-wideband (UWB) radar is capable of penetrating through such…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
Precise localization and tracking of moving non-collaborative persons and objects using a network of ultra-wideband (UWB) radar nodes has been shown to represent a practical and effective approach. In UWB radar sensor networks (RSNs),…