Related papers: Path Planning Under Uncertainty to Localize mmWave…
In intelligent transportation systems (ITS), vehicles are expected to feature with advanced applications and services which demand ultra-high data rates and low-latency communications. For that, the millimeter wave (mmWave) communication…
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of.…
The sparsity of millimeter wave (mmWave) channels in the angular and temporal domains is beneficial to channel estimation, while the associated channel parameters can be utilized for localization. However, line-of-sight (LoS) blockage poses…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
In this paper, we investigate the problem of beam alignment in millimeter wave (mmWave) systems, and design an optimal algorithm to reduce the overhead. Specifically, due to directional communications, the transmitter and receiver beams…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
The world is moving towards faster data transformation with more efficient localization of a user being the preliminary requirement. This work investigates the use of a deep learning technique for wireless localization, considering both…
For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…
In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…
Accurate precise positioning at millimeter wave frequencies is possible due to the large available bandwidth that permits precise on-the-fly time of flight measurements using conventional air interface standards. In addition, narrow antenna…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
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…
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
In this work, the uplink channel estimation problem is considered for a millimeter wave (mmWave) multi-input multi-output (MIMO) system. It is well known that pilot overhead and computation complexity in estimating the channel increases…
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…