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Future cellular networks that utilize millimeter wave signals provide new opportunities in positioning and situational awareness. Large bandwidths combined with large antenna arrays provide unparalleled delay and angle resolution, allowing…
The research presented in this paper is aimed at developing a control algorithm for an autonomous surface system carrying a two-sensor array consisting of two acoustic receivers, capable of measuring the time-difference-of-arrival (TDOA) of…
In recent years, UWB has garnered widespread attention in academia and industry due to its low power consumption, wide bandwidth, and high time resolution characteristics. This paper introduces the design of an asynchronous IR-UWB…
Accurate and low-power indoor localization is becoming more and more of a necessity to empower novel consumer and industrial applications. In this field, the most promising technology is based on UWB modulation; however, current UWB…
Heterogeneous sensor setups may entail measurements recorded at varying sampling frequencies, commonly known as multi-rate data. For system identification and state estimation with such data, existing studies mostly focus on data fusion…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
End-to-end production of object tracklets from high resolution video in real-time and with high accuracy remains a challenging problem due to the cost of object detection on each frame. In this work we present Localization-based Tracking…
This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…
The report focuses on three areas in particular: the first is the Received Signal Strength indicator technique, Direction of Arrival technique, and the integration of two algorithms, RSS and DOA, in order to build a hybrid, more robust…
Tag population estimation has recently attracted significant research attention due to its paramount importance on a variety of radio frequency identification (RFID) applications. However, most, if not all, of existing estimation mechanisms…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
Accurate indoor localization has long been a challenging problem due to the presence of multipath. Joint direction-of-arrival (DOA) and time delay (TD) estimation is a promising technique for accurate indoor Localization in next generation…
Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…
Multi-object tracking plays a crucial role in various applications, such as autonomous driving and security surveillance. This study introduces Deep LG-Track, a novel multi-object tracker that incorporates three key enhancements to improve…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
This paper represents the novel high precision localization approach for Automated Driving (AD) relative to 3D map. The AD maps are not necessarily flat. Hence, the problem of localization is solved here in 3D. The vehicle motion is modeled…
This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements.…