Related papers: Evaluating the Benefit of Using Multiple Low-Cost …
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
Massive multiple-input multiple-output (MIMO) techniques have been recently advanced to tremendously improve the performance of wireless communication networks. However, the use of very large antenna arrays at the base stations (BSs) brings…
Beam management, including initial access (IA) and beam tracking, is essential to the millimeter-wave Unmanned Aerial Vehicle (UAV) network. However, conventional communication-only and feedback-based schemes suffer a high delay and low…
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…
Beam alignment is required in millimeter wave communication to ensure high data rate transmission. However, with narrow beamwidth in massive MIMO, beam alignment could be computationally intensive due to the large number of beam pairs to be…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Accurate obstacle identification represents a fundamental challenge within the scope of near-field perception for autonomous driving. Conventionally, fisheye cameras are frequently employed for comprehensive surround-view perception,…
In beam shaping applications, the minimization of the number of necessary optical elements for the beam shaping process can benefit the compactness of the optical system and reduce its cost. The single freeform surface design for input…
High-throughput satellite communication systems are growing in strategic importance thanks to their role in delivering broadband services to mobile platforms and residences and/or businesses in rural and remote regions globally. Although…
This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…
Commercial operation of unmanned aerial vehicles (UAVs) would benefit from an onboard ability to sense and avoid (SAA) potential mid-air collision threats. In this paper we present a new approach for detection of aircraft below the horizon.…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
Unmanned aerial vehicles (UAVs) play an essential role in future wireless communication networks due to their high mobility, low cost, and on-demand deployment. In air-to-ground links, UAVs are widely used to enhance the performance of…
Interferometry provides highly sensitive access to optical phase and is central to much of modern metrology and phase imaging methods. Conventional implementations, however, often face trade-offs between mechanical stability and…
We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…
The ultimate research goal for unmanned aerial vehicles (UAVs) is to facilitate autonomy of operation. Research in the last decade has highlighted the potential of vision sensing in this regard. Although vital for accomplishment of missions…
Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…