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As a critical technology for next-generation communication networks, integrated sensing and communication (ISAC) aims to achieve the harmonious coexistence of communication and sensing. The degrees-of-freedom (DoF) of ISAC is limited due to…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary sensors. Using data captured during approximately 2 hours of…
Sensor fusion of camera, LiDAR, and 4-dimensional (4D) Radar has brought a significant performance improvement in autonomous driving. However, there still exist fundamental challenges: deeply coupled fusion methods assume continuous sensor…
Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…
Direction-of-arrival (DOA) estimation for incoherently distributed (ID) sources is essential in multipath wireless communication scenarios, yet it remains challenging due to the combined effects of angular spread and gain-phase…
The integration of sensing capabilities into communication systems, by sharing physical resources, has a significant potential for reducing spectrum, hardware, and energy costs while inspiring innovative applications. Cooperative networks,…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…
In this paper, we investigate a self-sensing intelligent reflecting surface (IRS) aided millimeter wave (mmWave) integrated sensing and communication (ISAC) system. Unlike the conventional purely passive IRS, the self-sensing IRS can…
Integrated sensing and communications (ISAC) is a promising component of 6G networks, fusing communication and radar technologies to facilitate new services. Additionally, the use of extremely large-scale antenna arrays (ELAA) at the ISAC…
Cooperative localization is a promising solution to improve the accuracy and overcome the shortcomings of GNSS. Cooperation is often achieved by measuring the distance between users. To optimally integrate a distance measurement between two…
Synthetic Aperture Radar (SAR) utilizes the movement of the radar antenna over a specific area of interest to achieve higher spatial resolution imaging. In this paper, we aim to investigate the realization of SAR imaging for a stationary…
UAV swarms can form virtual antenna arrays to exploit additional spatial degrees of freedom and enhance integrated sensing and communication (ISAC). The optimization of UAV positions is challenging due to the distributed nature of swarms…
Inverse synthetic aperture radar (ISAR) images generated from single-channel automotive radar data provide critical information about the shape and size of automotive targets. However, the quality of ISAR images degrades due to road clutter…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…
Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…