Related papers: Fusing Odometry, UWB Ranging, and Spatial Detectio…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…
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…
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…
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…
Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising…
Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
A swarm of robots has advantages over a single robot, since it can explore larger areas much faster and is more robust to single-point failures. Accurate relative positioning is necessary to successfully carry out a collaborative mission…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…
Rodents have long been established as the premier model for behavioral studies, traditionally raised and maintained in conventional cage environments. However, these settings often limit rodents' ability to exhibit their full range of…
Ultra-wideband (UWB) communications have gained popularity in recent years for being able to provide distance measurements and localization with high accuracy, which can enhance the capabilities of devices in the Internet of Things (IoT).…