Related papers: Exploiting Redundancy for UWB Anomaly Detection in…
Our paper presents a robust framework for UWB-based static gesture recognition, leveraging proprietary UWB radar sensor technology. Extensive data collection efforts were undertaken to compile datasets containing five commonly used…
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of…
UAVs, commonly referred to as drones, have witnessed a remarkable surge in popularity due to their versatile applications. These cyber-physical systems depend on multiple sensor inputs, such as cameras, GPS receivers, accelerometers, and…
While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
Accurate device free localization (DFL) based on received signal strength (RSS) measurements requires placement of radio transceivers on all sides of the target area. Accuracy degrades dramatically if sensors do not surround the area.…
Ultrawideband (UWB) technology has attracted a lot of attention for indoor and outdoor positioning systems due to its high accuracy and robustness in non-line-of-sight (NLOS) environments. However, UWB signals are affected by multipath…
Nodes localization in Wireless Sensor Networks (WSN) has arisen as a very challenging problem in the research community. Most of the applications for WSN are not useful without a priori known nodes positions. One solution to the problem is…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
With a growing number of robots being deployed across diverse applications, robust multimodal anomaly detection becomes increasingly important. In robotic manipulation, failures typically arise from (1) robot-driven anomalies due to an…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Timely detection of abrupt anomalies is crucial for real-time monitoring and security of modern systems producing high-dimensional data. With this goal, we propose effective and scalable algorithms. Proposed algorithms are nonparametric as…
Due to the veracity and heterogeneity in network traffic, detecting anomalous events is challenging. The computational load on global servers is a significant challenge in terms of efficiency, accuracy, and scalability. Our primary…
We present a data-driven car occupancy detection algorithm using ultra-wideband radar based on the ResNet architecture. The algorithm is trained on a dataset of channel impulse responses obtained from measurements at three different…
Intrusion detection has become one of the most critical tasks in a wireless network to prevent service outages that can take long to fix. The sheer variety of anomalous events necessitates adopting cognitive anomaly detection methods…