Related papers: Laser Ranging Based Intelligent System for Unknown…
This paper presents a deep learning-based framework for enhancing radar systems in the presence of interference, leveraging Reconfigurable Intelligent Surfaces (RIS). The proposed technique uses a modified MUSIC algorithm to estimate the…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
The integration of reconfigurable intelligent surfaces (RIS) in wireless environments offers channel programmability and dynamic control over propagation channels, which is expected to play a crucial role in sixth generation (6G) networks.…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
It is essential to have a method to map an unknown terrain for various applications. For places where human access is not possible, a method should be proposed to identify the environment. Exploration, disaster relief, transportation and…
Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…
4D mmWave radar sensors are suitable for roadside perception in city-scale Intelligent Transportation Systems (ITS) due to their long sensing range, weatherproof functionality, simple mechanical design, and low manufacturing cost. In this…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
As 6G wireless networks seek to enable robust and dynamic programmable wireless environments (PWEs), reconfigurable intelligent surfaces (RISs) have emerged as a cornerstone for controlling electromagnetic wave propagation. However,…
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D…
Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…
The following paper proposes a new target localization system design using an architecture based on reconfigurable intelligent surfaces (RISs) and passive radars (PRs) for integrated sensing and communications systems. The preamble of the…
Space exploration has witnessed a steady increase since the 1960s, with Mars playing a significant role in our quest for further knowledge. As the ambition to colonize Mars becomes a reality through the collaboration of private companies…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Reconfigurable intelligent surfaces (RISs) have tremendous potential for both communication and localization. While communication benefits are now well-understood, the breakthrough nature of the technology may well lie in its capability to…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…