Related papers: Grid-based Hybrid 3DMA GNSS and Terrestrial Positi…
While integrating multiple modalities has the potential to improve environmental monitoring, current approaches struggle to combine data sources with heterogeneous formats or contents. A central difficulty arises when combining continuous…
The lack of measurements in distribution grids poses a severe challenge for their monitoring: since there may not be enough sensors to achieve numerical observability, load forecasts (pseudo-measurements) are typically used, and thus an…
Train localization during Global Navigation Satellite Systems (GNSS) outages presents challenges for ensuring failsafe and accurate positioning in railway networks. This paper proposes a minimalist approach exploiting track geometry and…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
Millimeter-wave radar plays a vital role in 3D object detection for autonomous driving due to its all-weather and all-lighting-condition capabilities for perception. However, radar point clouds suffer from pronounced sparsity and…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
We present a statistical framework for estimating global navigation satellite system (GNSS) non-ionospheric differential time delay bias. The biases are estimated by examining differences of measured line integrated electron densities (TEC)…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
This paper develops a hybrid system modeling framework for inverters that switch between grid-following and grid-forming control schemes. In particular, such inverters are modeled as hybrid automata with guard conditions on voltage and…
Source localization techniques incorporating hybrid measurements improve the reliability and accuracy of the location estimate. Given a set of hybrid sensors that can collect combined time of arrival (TOA), received signal strength (RSS)…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…
Landslide monitoring is essential for understanding geohazards and mitigating associated risks. Existing point cloud-based methods, however, typically rely on either geometric or radiometric information and often yield sparse or non-3D…
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
Global Navigation Satellite Systems (GNSS) applications are often hindered by various sources of error, with multipath interference being one of the most challenging, particularly in urban environments. In this work, we build on previous…
High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…
Deployment of automated ground vehicles beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras…
Pumped-storage hydropower plants (PSH) actively participate in grid power-frequency control and therefore often operate under dynamic conditions, which results in rapidly varying system states. Predicting these dynamically changing states…
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite…