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Recently, true-time-delay (TTD) arrays, also referred to as joint phase-time arrays (JPTA), have been investigated for low-cost frequency-dependent beamforming capabilities to enable various applications, including beam-squint correction,…
This paper considers target tracking based on a beacon signal's time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance…
SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…
Deep neural network (DNN)-based speech enhancement algorithms in microphone arrays have now proven to be efficient solutions to speech understanding and speech recognition in noisy environments. However, in the context of ad-hoc microphone…
Timbre allows us to distinguish between sounds even when they share the same pitch and loudness, playing an important role in music, instrument recognition, and speech. Traditional approaches, such as frequency analysis or machine learning,…
This paper addresses the problem of single snapshot Direction-of-Arrival (DOA) estimation, which is of great importance in a wide-range of applications including automotive radar. A popular approach to achieving high angular resolution when…
Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…
Delay and sum (DAS) is the most common beamforming algorithm in linear-array photoacoustic imaging (PAI) as a result of its simple implementation. However, it leads to a low resolution and high sidelobes. Delay multiply and sum (DMAS) was…
Joint sound event localization and detection (SELD) is an integral part of developing context awareness into communication interfaces of mobile robots, smartphones, and home assistants. For example, an automatic audio focus for video…
The Laser Interferometer Space Antenna is a joint ESA-NASA space-mission to detect and study mHz cosmic gravitational waves. The trajectories followed by its three spacecraft result in unequal- and time-varying arms, requiring use of the…
Sound source localization (SSL) adds a spatial dimension to auditory perception, allowing a system to pinpoint the origin of speech, machinery noise, warning tones, or other acoustic events, capabilities that facilitate robot navigation,…
This paper investigates unmanned aerial vehicle (UAV) localization using time difference of arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. A 3D TDOA Cram\'er-Rao lower bound (CRLB) model…
In practical scenarios, processes such as sensor design, manufacturing, and installation will introduce certain errors. Furthermore, mutual interference occurs when the sensors receive signals. These defects in array systems are referred to…
This paper proposes design techniques for partially-calibrated sparse linear subarrays and algorithms to perform direction-of-arrival (DOA) estimation. First, we introduce array architectures that incorporate two distinct array categories,…
A swarm of robots has advantages over a single robot, since it can explore larger areas much faster and is more robust to single-point failures. Accurate relative positioning is necessary to successfully carry out a collaborative mission…
In this paper we present our researches regarding automat parsing of audio recordings. These recordings are obtained from children with dyslalia and are necessary for an accurate identification of speech problems. We develop the ADM…
A novel simultaneous localization and radio mapping (SLARM) framework for communication-aware connected robots in the unknown indoor environment is proposed, where the simultaneous localization and mapping (SLAM) algorithm and the global…
Optical fibers have long been employed as sensors in a wide range of commercial systems. Distributed Acoustic Sensing (DAS) extends this concept by enabling the detection and localization of acoustic sources along the fiber, using…
Deep learning-based sound event localization and classification is an emerging research area within wireless acoustic sensor networks. However, current methods for sound event localization and classification typically rely on a single…
Robust SLAM in large-scale environments requires fault resilience and awareness at multiple stages, from sensing and odometry estimation to loop closure. In this work, we present TBV (Trust But Verify) Radar SLAM, a method for radar SLAM…