Related papers: A Unified Initial Alignment Method of SINS Based o…
Due to the very narrow beam used in millimeter wave communication (mmWave), beam alignment (BA) is a critical issue. In this work, we investigate the issue of mmWave BA and present a novel beam alignment scheme on the basis of a machine…
In this work we propose a tightly-coupled Extended Kalman Filter framework for IMU-only state estimation. Strap-down IMU measurements provide relative state estimates based on IMU kinematic motion model. However the integration of…
This article introduces a new physics-based method for rigid point set alignment called Fast Gravitational Approach (FGA). In FGA, the source and target point sets are interpreted as rigid particle swarms with masses interacting in a…
Objective Maps of B0 field inhomogeneities are often used to improve MRI image quality, even in a retrospective fashion. These field inhomogeneities depend on the exact head position within the static field but acquiring field maps (FM) at…
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account the inherent and non-negligible systematic error in the…
Accurate channel estimation is essential to achieve the performance gains promised by the use of reconfigurable intelligent surfaces (RISs) in wireless communications. In the uplink of multi-user orthogonal frequency division multiple…
The "fast iterative shrinkage-thresholding algorithm", a.k.a. FISTA, is one of the most well-known first-order optimisation scheme in the literature, as it achieves the worst-case $O(1/k^2)$ optimal convergence rate in terms of objective…
In this paper, we propose an Expectation-Maximization-based (EM) Personalized Federated Learning (PFL) framework for multi-objective optimization (MOO) in Integrated Sensing and Communication (ISAC) systems. In contrast to standard…
In a standard setting of Bayesian optimization (BO), the objective function evaluation is assumed to be highly expensive. Multi-fidelity Bayesian optimization (MFBO) accelerates BO by incorporating lower fidelity observations available with…
Alignment with human preference is a desired property of large language models (LLMs). Currently, the main alignment approach is based on reinforcement learning from human feedback (RLHF). Despite the effectiveness of RLHF, it is intricate…
Autonomous methods to align beamlines can decrease the amount of time spent on diagnostics, and also uncover better global optima leading to better beam quality. The alignment of these beamlines is a high-dimensional, expensive-to-sample…
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning solution based on a wheel-mounted…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…
This paper proposes a novel multiple intelligent reflecting surfaces (IRSs) collaborative hybrid localization system, which involves deploying multiple IRSs near the target area and achieving target localization through joint time delay and…
In emergency scenarios, the dynamic and harsh conditions necessitate timely trajectory adjustments for drones, leading to highly dynamic network topologies and potential task failures. To address these challenges, a collaborative computing…
Reliable positioning in dense urban environments remains challenging due to frequent GNSS signal blockage, multipath, and rapidly varying satellite geometry. While factor graph optimization (FGO)-based GNSS-IMU fusion has demonstrated…
We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…
In the evolving environment of mobile edge computing (MEC), optimizing system performance to meet the growing demand for low-latency computing services is a top priority. Integrating fluidic antenna (FA) technology into MEC networks…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
This paper investigates beamforming-gain maximization for a fluid reconfigurable intelligent surface (FRIS)-assisted downlink system, where each active port applies a finite-resolution unit-modulus phase selected from a discrete codebook.…