Related papers: On Dynamic Ray Tracing and Anticipative Channel Pr…
The ray-tracing is often employed in urban areas for channel modeling with high accuracy but encounters a substantial computational complexity for high mobility scenarios. In this paper, we propose a novel pre-processing method for dynamic…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
Embodying the principle of simulation intelligence, digital twin (DT) systems construct and maintain a high-fidelity virtual model of a physical system. This paper focuses on ray tracing (RT), which is widely seen as an enabling technology…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
The physical world consists of spatially varying media, such as the atmosphere and the ocean, in which light and sound propagates along non-linear trajectories. This presents a challenge to existing ray-tracing based methods, which are…
The challenge of 3D multi-object tracking is achieving robustness in real-world applications, for example under adverse conditions and maintaining consistency as distance increases. To overcome these challenges, sensor fusion approaches…
A ray-tracing (RT) enhanced back-projection algorithm (RT-BPA) for microwave imaging in multipath environments is presented. By tightly incorporating the concept of ray-tracing into a generalized version of traditional BPA, this method…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
Ray-tracing (RT) has become central to site-specific electromagnetic propagation modeling in dynamic complex environments. Yet its computational burden grows sharply as high-fidelity digital twins of these environments scale to millions of…
Accurate 3D multi-object tracking (MOT) is vital for autonomous vehicles, yet LiDAR and camera-based methods degrade in adverse weather. Meanwhile, Radar-based solutions remain robust but often suffer from limited vertical resolution and…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Ray tracing is widely employed to model the propagation of radio-frequency (RF) signal in complex environment. The modelling performance greatly depends on how accurately the target scene can be depicted, including the scene geometry and…
Tracking of dynamic people in cluttered and crowded human-centered environments is a challenging robotics problem due to the presence of intraclass variations including occlusions, pose deformations, and lighting variations. This paper…
Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-based motion planning algorithms face challenges in such…
Recent differentiable rendering techniques have become key tools to tackle many inverse problems in graphics and vision. Existing models, however, assume steady-state light transport, i.e., infinite speed of light. While this is a safe…
The upcoming roll-out of the new wireless communication standard for wireless railway services, FRMCS, requires a thorough understanding of the system performance in real-world conditions, since this will strongly influence the deployment…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…