Related papers: Localizing Multiple Radiation Sources Actively wit…
In this paper we consider the problem of localizing a set of broadband sources from a finite window of measurements. In the case of narrowband sources this can be reduced to the problem of spectral line estimation, where our goal is simply…
This work discusses a novel method for estimating the location of a gas source based on spatially distributed concentration measurements taken, e.g., by a mobile robot or flying platform that follows a predefined trajectory to collect…
We propose a method for sensor array self-localization using a set of sources at unknown locations. The sources produce signals whose times of arrival are registered at the sensors. We look at the general case where neither the emission…
The use of mobile robotics in radioactive source seeking has become an important part of modern radiation-safety practices, supporting timely mitigation of contamination risks and helping protect public health. However, measuring radiation…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…
Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
The application of radio-based positioning systems is ever increasing. In light of the dissemination of the Internet of Things and location-aware communication systems, the demands on localization architectures and amount of possible use…
Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally expensive algorithm that is difficult to run on…
Estimating the number of sources received by an antenna array have been well known and investigated since the starting of array signal processing. Accurate estimation of such parameter is critical in many applications that involve prior…
This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…
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…
In this paper, we tackle the problem of localizing the source of a three-dimensional signal field with a team of mobile robots able to collect noisy measurements of its strength and share information with each other. The adopted strategy is…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…