Related papers: Laser Ranging Based Intelligent System for Unknown…
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…
We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
This letter investigates an uplink pilot-based wireless indoor localization problem in a multipath environment for a single-input single-output (SISO) narrowband communication system aided by reconfigurable intelligent surface (RIS). The…
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…
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…
Security is of primary importance to vehicles. The viability of performing remote intrusions onto the in-vehicle network has been manifested. In regard to unmanned autonomous cars, limited work has been done to detect intrusions for them…
Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…
Reconfigurable intelligent surfaces (RISs) have the potential to enable user localization in scenarios where traditional approaches fail. Building on prior work in single-antenna RIS-enabled localization, we investigate the potential to…
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 paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…
This paper proposes a novel location information aided multiple intelligent reflecting surface (IRS) systems. Assuming imperfect user location information, the effective angles from the IRS to the users are estimated, which is then used to…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
Indoor wireless simultaneous localization and mapping (SLAM) is considered as a promising technique to provide positioning services in future 6G systems. However, the accuracy of traditional wireless SLAM system heavily relies on the…