Related papers: Path Planning Under Uncertainty to Localize mmWave…
In this paper we present a Neural Network design that can be used to track the location of a moving object within a given range based on the object's noisy coordinates measurement. A function commonly performed by the KLMn filter, our goal…
Millimeter-wave (mmWave) MIMO systems rely on highly directional beamforming to overcome severe path loss and ensure robust communication links. However, selecting the optimal beam pair efficiently remains a challenge due to the large…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
This paper investigates the usefulness of reasoning about the uncertain presence of obstacles during path planning, which typically stems from the usage of probabilistic occupancy grid maps for representing the environment when mapping via…
Scientists interested in studying natural phenomena often take physical specimens from locations in the environment for later analysis. These analysis locations are typically specified by expert heuristics. Instead, we propose to choose…
This paper addresses the localization problem. The extended Kalman filter (EKF) is employed to localize a unicycle-like mobile robot equipped with a laser range finder (LRF) sensor and an omni-directional camera. The LRF is used to scan the…
We discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest…
This paper is concerned with the channel estimation problem in millimetre wave (MMW) wireless systems with large antenna arrays. By exploiting the sparse nature of the MMW channel, we present an efficient estimation algorithm based on a…
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…
This paper explores the problem of path planning under uncertainty. Specifically, we consider online receding horizon based planners that need to operate in a latent environment where the latent information can be modeled via Gaussian…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…
In this paper, the problem of pilot beam pattern design for channel estimation in massive multiple-input multiple-output systems with a large number of transmit antennas at the base station is considered, and a new algorithm for pilot beam…
Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magnetic-based navigation (MagNav) offers a robust solution by…
5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated…
Integrating efficient connectivity, positioning and sensing functionalities into 5G New Radio (NR) and beyond mobile cellular systems is one timely research paradigm, especially at mm-wave and sub-THz bands. In this article, we address the…
We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual…
Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an…
Millimeter-wave (mmwave) communication represents a potential solution to capacity shortage in vehicular networks. However, effective beam alignment between senders and receivers requires accurate knowledge of the vehicles' position for…