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Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…
Channel Estimation is an essential component in applications such as radar and data communication. In multi path time varying environments, it is necessary to estimate time-shifts, scale-shifts (the wideband equivalent of Doppler-shifts),…
The auditory system of humanoid robots has gained increased attention in recent years. This system typically acquires the surrounding sound field by means of a microphone array. Signals acquired by the array are then processed using various…
In this paper, we propose a dual-hop RF (Radio-Frequency)/FSO (Free-Space Optical) system with multiple relays employing the Decode-and-Forward (DF) and Amplify-and-Forward (AF) with a Fixed Gain (FG) relaying scheme. The RF channels are…
mmWave radars have recently gathered significant attention as a means to track human movement within indoor environments. Widely adopted Kalman filter tracking methods experience performance degradation when the underlying movement is…
We introduce a new Markov-Chain Monte Carlo (MCMC) approach designed for efficient sampling of highly correlated and multimodal posteriors. Parallel tempering, though effective, is a costly technique for sampling such posteriors. Our…
This paper presents two-hop relay gain-scheduling control in a Wireless Sensor Network to estimate a static target prior characterized by Gaussian probability distribution. The target is observed by a network of linear sensors, whose…
One of the notorious problems of frequency modulated continuous-wave (FMCW) radar is leakage between the transmitter and the receiver. The phase noise of the leakage is expressed as a skirt around the leakage signal on power spectrum. It…
By combining traditional frequency hopping ideas with the concepts of subcarriers and sampling points in OFDM baseband systems, this paper proposes a frequency hopping technology within the baseband called micro frequency hopping. Based on…
Non-contact vital sign detection is a required application nowadays in many fields as patient monitoring and static human detection. Within the last decade, radar has been introduced as a smart and convenient sensor for non-contact…
Intelligent reflecting surfaces (IRSs) have emerged as a promising technology to improve the efficiency of wireless communication systems. However, passive IRSs suffer from the ``multiplicative fading" effect, because the transmit signal…
(Abridged) Quantitative three-dimensional (3D) position and velocity estimates obtained by passive radar will assist the Galileo Project in the detection and classification of aerial objects by providing critical measurements of range,…
Commercial automotive radars used today are based on frequency modulated continuous wave signals due to the simple and robust detection method and good accuracy. However, the increase in both the number of radars deployed per vehicle and…
The paper centres on an assessment of the modelling approaches for the processing of signals in CW and FMCW radar-based systems for the detection of vital signs. It is shown that the use of the widely adopted phase extraction method, which…
Human Activity Recognition has gained significant attention due to its diverse applications, including ambient assisted living and remote sensing. Wearable sensor-based solutions often suffer from user discomfort and reliability issues,…
Frequency Modulated Continuous Wave (FMCW) radar has been widely applied in automotive anti-collision systems, automatic cruise control, and indoor monitoring. However, conventional analog-to-digital converters (ADCs) can suffer from…
Spinning, frequency-modulated continuous-wave (FMCW) radars with 360 degree coverage have been gaining popularity for autonomous-vehicle navigation. However, unlike `fixed' automotive radar, commercially available spinning radar systems…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses…
In Frequency Modulated Continuous Waveform (FMCW) radar systems, the phase noise from the Phase-Locked Loop (PLL) can increase the noise floor in the Range-Doppler map. The adverse effects of phase noise on close targets can be mitigated if…
We study transmission power budget minimization of battery-powered nodes in a remote state estimation problem over multi-hop wireless networks. Communication links between nodes are subject to fading, thereby generating random dropouts.…