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In this work, a system scheme is proposed for tracking a radio emitting target moving in two-dimensional space. The localization is based on the use of biased time-of-arrival (TOA) measurements obtained at two asynchronous receivers, each…
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),…
In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
In this paper, we propose a two-stage weighted projection method (TS-WPM) for time-difference-of-arrival (TDOA)-based localization, providing provable improvements in positioning accuracy, particularly under high geometric dilution of…
Location is one of the basic information required for underwater optical wireless sensor networks (UOWSNs) for different purposes such as relating the sensing measurements with precise sensor positions, enabling efficient geographic routing…
Emerging wireless applications are requiring ever more accurate location-positioning from sensor measurements. In this paper, we develop sensor selection strategies for 3D wireless positioning based on time of arrival (TOA) and received…
Label assignment plays a significant role in modern object detection models. Detection models may yield totally different performances with different label assignment strategies. For anchor-based detection models, the IoU (Intersection over…
In object detection, determining which anchors to assign as positive or negative samples, known as anchor assignment, has been revealed as a core procedure that can significantly affect a model's performance. In this paper we propose a…
Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound source localization and tracking. State-of-the-art calibration methods for this type of…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…
In a time division broadcast positioning system (TDBPS), a user device (UD) determines its position by obtaining sequential time-of-arrival (TOA) or pseudorange measurements from signals broadcast by multiple synchronized base stations…
Node localization plays an important role in many practical applications of wireless underground sensor networks (WUSNs), such as finding the locations of earthquake epicenters, underground explosions, and microseismic events in mines. It…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Accurate and energy efficient localization remains a key challenge in Wireless Sensor Networks (WSNs), particularly when obstacles affect signal propagation. This study introduces AOASS (Adaptive Obstacle Aware Square Spiral), a new single…
In this paper, to synchronize Ultra Wideband (UWB) systems in ad-hoc multi-user environments, we propose a new timing acquisition approach for achieving a good performance despite the difficulties to get there. Synchronization constraints…
A bidirectional Ultra-Wideband (UWB) localization scheme is one of the three widely adopted design integration processes commonly used in time-based UWB positioning systems. The key property of bidirectional UWB localization is its ability…
The quick detection and localization of partial discharge (PD) in an air-insulated substation (AIS) based on ultrahigh-frequency (UHF) sensor arrays are efficient for power equipment monitoring. The adopted UHF PD time difference of arrival…
Rodents have long been established as the premier model for behavioral studies, traditionally raised and maintained in conventional cage environments. However, these settings often limit rodents' ability to exhibit their full range of…
Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requires deployment of substantial infrastructure (infrared…