Related papers: RF-Based Simultaneous Localization and Source Seek…
This paper studies a multiple intelligent reflecting surfaces (IRSs) collaborative localization system where multiple semi-passive IRSs are deployed in the network to locate one or more targets based on time-of-arrival. It is assumed that…
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…
Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
The extra degrees of freedom resulting from the consideration of Reconfigurable Intelligent Surfaces (RISs) for smart signal propagation can be exploited for high accuracy localization and tracking. In this paper, capitalizing on a recent…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on using only bearing information, as it is readily available…
An appearance-based robot self-localization problem is considered in the machine learning framework. The appearance space is composed of all possible images, which can be captured by a robot's visual system under all robot localizations.…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
The collaboration and interaction of multiple robots have become integral aspects of smart manufacturing. Effective planning and management play a crucial role in achieving energy savings and minimising overall costs. This paper addresses…
In this paper, we study the symmetric rendezvous search problem on the line with n > 2 robots that are unaware of their locations and the initial distances between them. In the symmetric version of this problem, the robots execute the same…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
Data-based and learning-based sound source localization (SSL) has shown promising results in challenging conditions, and is commonly set as a classification or a regression problem. Regression-based approaches have certain advantages over…
Source localization is the process of estimating the location of signal sources based on the signals received at different antennas of an antenna array. It has diverse applications, ranging from radar systems and underwater acoustics to…
The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…
Wi-Fi-based positioning promises a scalable and privacy-preserving solution for location-based services in indoor environments such as malls, airports, and campuses. RSS-based methods are widely deployable as RSS data is available on all…