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Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
The paper presents an innovative approach to address the challenges of scalability and reliability in Distributed Federated Learning by leveraging the integration of blockchain technology. The paper focuses on enhancing the trustworthiness…
Accurate localization is essential for a wide range of applications, including asset tracking, smart agriculture, and animal monitoring. While traditional localization methods, such as Global Navigation Satellite System (GNSS), Wi-Fi, and…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…
Blockchain is an innovative distributed ledger technology which has attracted a wide range of interests for building the next generation of applications to address lack-of-trust issues in business. Blockchain as a service (BaaS) is a…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
The increasing availability of data from diverse sources, including trusted entities such as governments, as well as untrusted crowd-sourced contributors, demands a secure and trustworthy environment for storage and retrieval. Blockchain,…
Nowadays, accurate localization plays an essential role in many fields, like target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…
Blockchain technology, while revolutionary in enabling decentralized transactions, faces scalability challenges as the ledger must be replicated across all nodes of the chain, limiting throughput and efficiency. Sharding, which divides the…
Blockchain has emerged as a trusted and secure distributed ledger for transactions while also being decentralised, distributed and its legitimacy not guaranteed by a trusted authority. Since the appearance of Bitcoin, Blockchain has known…
In the emerging space economy, autonomous robotic missions with specialized goals such as mapping and mining are gaining traction, with agencies and enterprises increasingly investing resources. Multirobot systems (MRS) research has…
With the advancement of blockchain systems, many recent research works have proposed distributed ledger technology~(DLT) that employs Byzantine fault-tolerant~(BFT) consensus protocols to decide which block to append next to the ledger.…
Recent advancements in Internet of Things (IoTs) have brought about a surge of interest in indoor positioning for the purpose of providing reliable, accurate, and energy-efficient indoor navigation/localization systems. Ultra Wide Band…
Determining assets position with high accuracy and scalability is one of the most investigated technology on the market. The accuracy provided by satellites-based positioning systems (i.e., GLONASS or Galileo) is not always sufficient when…