Related papers: Path Planning Under Uncertainty to Localize mmWave…
In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
In wireless communication systems, mmWave beam tracking is a critical task that affects both sensing and communications, as it is related to the knowledge of the wireless channel. We consider a setup in which a Base Station (BS) needs to…
Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…
Millimeter-wave (mmWave) communication systems rely on narrow beams for achieving sufficient receive signal power. Adjusting these beams is typically associated with large training overhead, which becomes particularly critical for…
Large-scale spatial data such as air quality, thermal conditions and location signatures play a vital role in a variety of applications. Collecting such data manually can be tedious and labour intensive. With the advancement of robotic…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
Millimeter wave (mmW) wireless networks are capable to support multi-gigabit data rates, by using directional communications with narrow beams. However, existing mmW communications standards are hindered by two problems: deafness and single…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
We consider the problem of observer design for a nonholonomic car (more generally a wheeled robot) equipped with wheel speeds with unknown wheel radius, and whose position is measured via a GNSS antenna placed at an unknown position in the…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state estimation and the stability of localization. Traditional…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
We consider the problem of spatial signal design for multipath-assisted mmWave positioning under limited prior knowledge on the user's location and clock bias. We propose an optimal robust design and, based on the low-dimensional precoder…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…
This paper considers theoretical solutions for path planning problems under non-probabilistic uncertainty used in the travel salesman problems under uncertainty. The uncertainty is on the paths between the cities as nodes in a travelling…