Related papers: Mobile robot localization with GNSS multipath dete…

Thanks to rapid advances in technologies like GPS and Wi-Fi positioning, smartphone users are able to determine their location almost everywhere they go. This is not true, however, of people who are traveling in underground public…

Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the robot poses and the whole map will greatly increase the…

Location of Base Stations (BS) in mobile networks plays an important role in coverage and received signal strength. As Internet ofThings (IoT), autonomous vehicles and smart cities evolve, wireless net-work coverage will have an important…

Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…

The rapid development of technology has led to an increase in the number of devices that rely on position, velocity, and time (PVT) information to perform their functions. As such, the Global Navigation Satellite Systems (GNSS) have been…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…

Global navigation satellite system (GNSS) interference poses a serious threat to reliable positioning, especially in indoor and multipath-rich environments where source localization is highly challenging. In this paper, we formulate GNSS…

This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…

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…

Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial…

Indoor location identification and navigation need to be as simple, seamless, and ubiquitous as its outdoor GPS-based counterpart is. It would be of great convenience to the mobile user to be able to continue navigating seamlessly as he or…

This paper proposes a Simultaneous Calibration and Navigation (SCAN) algorithm of a multiple Ultrasonic Local Positioning Systems (ULPSs) that cover an extensive indoor area. The idea is the development of the same concept than SLAM…

We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…

Efficient Gas Source Localization (GSL) in real-world settings is crucial, especially in emergency scenarios. Mobile robots equipped with low-cost, in-situ gas sensors offer a safer alternative to human inspection in hazardous environments.…

This paper proposes a high-accuracy radio map construction method tailored for environments where location information is affected by bursty errors. Radio maps are an effective tool for visualizing wireless environments. Although extensive…

Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…

In this paper, we investigate a non-lineof-sight (NLOS) sensing problem at terahertz frequencies. To be able to observe the targets shadowed by a blockage, we propose a method using reconfigurable intelligent surfaces (RIS). We employ a…