Related papers: Multi-Robot Relative Pose Estimation and IMU Prein…
The LiDAR-inertial odometry (LIO) and the ultra-wideband (UWB) have been integrated together to achieve driftless positioning in global navigation satellite system (GNSS)-denied environments. However, the UWB may be affected by systematic…
Localization systems based on ultra-wide band (UWB) measurements can have unsatisfactory performance in harsh environments due to the presence of non-line-of-sight (NLOS) errors. Learning-based methods for error mitigation have shown great…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
While camera-based capture systems remain the gold standard for recording human motion, learning-based tracking systems based on sparse wearable sensors are gaining popularity. Most commonly, they use inertial sensors, whose propensity for…
Systems for relative localization in multi-robot systems based on ultra-wideband (UWB) ranging have recently emerged as robust solutions for GNSS-denied environments. Scalability remains one of the key challenges, particularly in ad-hoc…
The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns…
In many applications, ultra-wide band (UWB) system experiences impulse noise due to surrounding physical noise sources. Therefore, a conventional receiver (correlator or matched filter) designed for additive Gaussian noise system is not…
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…
Ultra-wideband (UWB)-based techniques, while becoming mainstream approaches for high-accurate positioning, tend to be challenged by ranging bias in harsh environments. The emerging learning-based methods for error mitigation have shown…
Ultra-wideband (UWB) devices are widely used in indoor localization scenarios. Single-anchor UWB localization shows advantages because of its simple system setup compared to conventional two-way ranging (TWR) and trilateration localization…
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO system. An inconsistent estimator can degrade localization…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
Radar technology presents untapped potential for continuous, contactless, and passive heart rate monitoring via consumer electronics like mobile phones. However the variety of available radar systems and lack of standardization means that a…
Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-motion constraint…
Ultra-wideband (UWB) communication is an emerging wireless technology that promises high data rates over short distances and precise locationing. The large available bandwidth and the constraint of a maximum power spectral density drives a…
Integrated sensing and communications (ISAC) enabled by unmanned aerial vehicles (UAVs) is a promising technology to facilitate target tracking applications. In contrast to conventional UAV-based ISAC system designs that mainly focus on…
Because an impulse radio ultra-wideband (IR-UWB) radar can detect targets with high accuracy, work through occluding materials, and operate without contact, it is an attractive hardware solution for building silent speech interfaces, which…
The integration of Reconfigurable Intelligent Surfaces (RIS) in 6G wireless networks offers unprecedented control over communication environments. However, identifying optimal configurations within practical constraints remains a…
Spatial and contextual awareness has the potential to revolutionize sensor nodes, enabling spatially augmented data collection and location-based services. With its high bandwidth, superior energy efficiency, and precise time-of-flight…