Related papers: Benchmarking UWB-Based Infrastructure-Free Positio…
Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…
This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally…
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or places with reflective surfaces (e.g. mirrors). On the other…
Understanding the location of ultra-wideband (UWB) tag-attached objects and people in the real world is vital to enabling a smooth cyber-physical transition. However, most UWB localization systems today require multiple anchors in the…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
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…
Autonomous vehicles need precise knowledge on dynamic objects in their surroundings. Especially in urban areas with many objects and possible occlusions, an infrastructure system based on a multi-sensor setup can provide the required…
Current and future wireless applications strongly rely on precise real-time localization. A number of applications such as smart cities, Internet of Things (IoT), medical services, automotive industry, underwater exploration, public safety,…
This study describes a UWB and Machine Learning (ML)-based indoor positioning system. We propose a simple mathematical strategy to create data to reduce the job of measurements for fingerprint-based indoor localization systems. A…
Recent advancements in Internet of Things (IoTs) have brought about a surge of interest in indoor positioning for the purpose of providing reliable, accurate, and energy-efficient indoor navigation/localization systems. Ultra Wide Band…
This paper considers indoor localization using multi-modal wireless signals including Wi-Fi, inertial measurement unit (IMU), and ultra-wideband (UWB). By formulating the localization as a multi-modal sequence regression problem, a…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
Trustworthiness assessment is an essential step to assure that interdependent systems perform critical functions as anticipated, even under adverse conditions. In this paper, a holistic trustworthiness assessment framework for…
Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G…
Localization in long-range Internet of Things networks is a challenging task, mainly due to the long distances and low bandwidth used. Moreover, the cost, power, and size limitations restrict the integration of a GPS receiver in each…
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…
More and more consumer devices implement the IEEE Ultra-Wide Band (UWB) standard to perform distance measurements for sensitive tasks such as keyless entry and startup of modern cars, to find lost items using coin-sized trackers, and for…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
Smart and unobtrusive mobile sensor nodes that accurately track their own position have the potential to augment data collection with location-based functions. To attain this vision of unobtrusiveness, the sensor nodes must have a compact…