Related papers: Active Planning for Cooperative Localization: A Fi…
The emerging immersive and autonomous services have posed stringent requirements on both communications and localization. By considering the great potential of reconfigurable intelligent surface (RIS), this paper focuses on the joint…
We consider a wireless sensor network consisting of multiple nodes that are coordinated by a fusion center (FC) in order to estimate a common signal of interest. In addition to being coordinated, the sensors are also able to collaborate,…
In this paper, we propose the problem of collaborative perception, where robots can combine their local observations with those of neighboring agents in a learnable way to improve accuracy on a perception task. Unlike existing work in…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Reconfigurable intelligent surfaces (RISs) are considered as an enabling technology for the upcoming sixth generation of wireless systems, exhibiting significant potential for radio localization and sensing. An RIS is usually treated as an…
In wireless location-aware networks, mobile nodes (agents) typically obtain their positions through ranging with respect to nodes with known positions (anchors). Transmit power allocation not only affects network lifetime, throughput, and…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
The manuscript discusses the increasing use of location-aware radio communication systems to support operational processes for the demanding aircraft cabin environment. In this context, the challenges for evaluation and integration of…
Active visual SLAM finds a wide array of applications in GNSS-Denied sub-terrain environments and outdoor environments for ground robots. To achieve robust localization and mapping accuracy, it is imperative to incorporate the perception…
In ultra-dense LEO satellite networks, conventional communication-oriented beam pattern design cannot provide multiple favorable signals from different satellites simultaneously, and thus leads to poor positioning performance. To tackle…
In the wireless sensor networks composed of battery-powered sensor nodes, one of the main issues is how to save power consumption at each node. The usual approach to this problem is to activate only necessary nodes (e.g., those nodes which…
In this dissertation, we investigate the issue of robust localization in swarms of heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus is the development of filter-based and decoupled estimators under…
In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take measurements and fuse them online using an Information Consensus…
Consider the communication of a single-user aided by a nearby relay involved in a large wireless network where the nodes form an homogeneous Poisson point process. Since this network is interference-limited the asymptotic error probability…
Existing anchor-based and anchor-free object detectors in multi-stage or one-stage pipelines have achieved very promising detection performance. However, they still encounter the design difficulty in hand-crafted 2D anchor definition and…
Cooperation between the nodes of wireless multihop networks can increase communication reliability, reduce energy consumption, and decrease latency. The possible improvements are even greater when nodes perform mutual information…
The integration of advanced localization techniques in the upcoming next generation networks (B5G/6G) is becoming increasingly important for many use cases comprising contact tracing, natural disasters, terrorist attacks, etc. Therefore,…
Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just objects, theses days it is necessary to offer particular and…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…