Related papers: ReLoki: Infrastructure-free Distributed Relative L…
Design of ultra-wideband antennas for in-door localization applications is a challenging task that involves development of geometry that ensures appropriate balance between the size and performance. In this work, a topologically-flexible…
The integration of Reconfigurable Intelligent Surfaces (RIS) in 6G wireless networks offers unprecedented control over communication environments. However, identifying optimal configurations within practical constraints remains a…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
Precise indoor localization is an increasingly demanding requirement for various emerging applications, like Virtual/Augmented reality and personalized advertising. Current indoor environments are equipped with pluralities of WiFi access…
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
Motivated by lunar exploration, we consider deploying a network of mobile robots to explore an unknown environment while acting as a cooperative positioning system. Robots measure and communicate position-related data in order to perform…
We present a novel device-free stationary person detection and ranging method, that is applicable to ultra-wide bandwidth (UWB) networks. The method utilizes a fixed UWB infrastructure and does not require a training database of template…
Ultra-wideband (UWB) communication is an emerging wireless technology that promises high data rates over short distances and precise locationing. The large available bandwidth and the constraint of a maximum power spectral density drives a…
In this work, the problem of localizing ground devices (GDs) is studied comparing the performance of four range-free (RF) localization algorithms that use a mobile anchor (MA). All the investigated algorithms are based on the so-called…
In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA),…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Fingerprint-based passive localization enables high localization accuracy using low-cost UWB IoT radio sensors. However, fingerprinting demands extensive effort for data acquisition. The concept of channel charting reduces this effort by…
Remote identification of Unmanned Aerial Vehicles (UAVs) is becoming increasingly important since more UAVs are being widely used for different needs in urban areas. For example, in the US and in the EU, identification and position…
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data…
Reconfigurable intelligent surfaces (RISs) are expected to be a main component of future 6G networks, due to their capability to create a controllable wireless environment, and achieve extended coverage and improved localization accuracy.…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and…
Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…
Accurate and robust positioning in multipath environments can enable many applications, such as search-and-rescue and asset tracking. For this problem, ultra-wideband (UWB) technology can provide the most accurate range estimates, which are…
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals…