Related papers: GNSS Odometry: Precise Trajectory Estimation Based…
In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…
Evolving 5G New Radio (NR) to support non-terrestrial networks (NTNs), particularly satellite communication networks, is under exploration in 3GPP. The movement of the spaceborne platforms in NTNs may result in large timing varying Doppler…
The contact sequence of humanoid walking consists of single and double support phases (SSP and DSP), and their coordination through proper duration and dynamic transition based on the robot's state is crucial for maintaining walking…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
Signals of opportunity (SOPs) are a promising technique that can be used for relative positioning in areas where global navigation satellite system (GNSS) information is unreliable or unavailable. This technique processes features of the…
This paper investigates covert multi-hop communication in wireless networks where an adversary employs a cyclostationary (cycle) detector to reveal hidden transmissions. The covert route employs direct sequence spread spectrum (DSSS)…
In urban environments, where line-of-sight signals from GNSS satellites are frequently blocked by high-rise objects, GNSS receivers are subject to large errors in measuring satellite ranges. Heuristic methods are commonly used to estimate…
This paper describes continuous-space methodologies to estimate the collision probability, Euclidean distance and gradient between an ellipsoidal robot model and an environment surface modeled as a set of Gaussian distributions.…
This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
Global navigation satellite systems (GNSS) are widely used for navigation and time distribution, features indispensable for critical infrastructure such as mobile communication networks, as well as emerging technologies like automated…
Despite the advancement in the technology of autonomous driving cars, the safety of a self-driving car is still a challenging problem that has not been well studied. Motion prediction is one of the core functions of an autonomous driving…
Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-motivated priors have been considered for such approaches,…
Accurate localization is a critical component of mobile autonomous systems, especially in Global Navigation Satellite Systems (GNSS)-denied environments where traditional methods fail. In such scenarios, environmental sensing is essential…
Global Navigation Satellite Systems (GNSS) provide standalone precise navigation for a wide gamut of applications. Nevertheless, applications or systems such as unmanned vehicles (aerial or ground vehicles and surface vessels) generally…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
This paper presents an effective framework for estimating time of arrival of vehicles (buses) in an Intelligent Transit Management System (ITMS) having sparse position updates. Our contributions towards this is firstly in implementing a…
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…