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This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
We present adaptive strategies for antenna selection for Direction of Arrival (DoA) estimation of a far-field source using TDM MIMO radar with linear arrays. Our treatment is formulated within a general adaptive sensing framework that uses…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
In this letter, the localization of terrestrial nodes when unmanned aerial vehicles (UAVs) are used as base stations is investigated. Particularly, a novel localization scenario based on received signal strength (RSS) from terrestrial nodes…
We present novel lower bounds on the localization error using a network of satellites randomly deployed on a sphere around Earth. Our new analysis approach characterizes the localization performance by its asymptotic behavior as the number…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
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…
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…
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.…
This paper presents a general technique for the joint Direction-of-Arrival (DoA) and Time-of-Arrival (ToA) estimation in multipath environments. The proposed ultra-wideband technique is based on phase-mode expansions and the use of nearly…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) service is either unavailable or has unsatisfactory performance.…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Accurate and reliable localization is crucial for various wireless communication applications. Numerous studies have proposed accurate localization methods using hybrid received signal strength (RSS) and angle of arrival (AOA) measurements.…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G…
Localization is one of the pivotal issues in wireless sensor network applications. In 3D localization studies, most algorithms focus on enhancing the location prediction process, lacking theoretical derivation of the detection distance of…
Localization accuracy is of paramount importance for the proper operation of underwater optical wireless sensor networks (UOWSNs). However, underwater localization is prone to hostile environmental impediments such as drifts due to the…