Related papers: Active Signal Emitter Placement In Complex Environ…
This paper focuses on learning efficient sensor allocations that ensure observability of unknown high-dimensional linear systems using only a small number of sensors. Existing methods either require an impractically large number of sensors…
Distributed massive MIMO (D-mMIMO) has been considered for future networks as it holds the potential to offer superior capacity while enabling energy savings in the network. A D-mMIMO system has multiple arrays. Optimizing the locations of…
With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…
To safely navigate unknown environments, robots must accurately perceive dynamic obstacles. Instead of directly measuring the scene depth with a LiDAR sensor, we explore the use of a much cheaper and higher resolution sensor: programmable…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
The intelligent acoustic emission locator is described in Part I, while Part II discusses blind source separation, time delay estimation and location of two simultaneously active continuous acoustic emission sources. The location of…
Future autonomous systems promise significant societal benefits, yet their deployment raises concerns about safety and trustworthiness. A key concern is assuring the reliability of robot perception, as perception seeds safe decision-making.…
Traffic prediction is a crucial topic because of its broad scope of applications in the transportation domain. Recently, various studies have achieved promising results. However, most studies assume the prediction locations have complete or…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
Many signal processing algorithms for distributed sensors are capable of improving their performance if the positions of sensors are known. In this paper, we focus on estimators for inferring the relative geometry of distributed arrays and…
In this work we propose an alternative formulation to the problem of ground reflectivity grid based localization involving laser scanned data from multiple LIDARs mounted on autonomous vehicles. The driving idea of our localization…
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…
Acoustic local positioning systems (ALPSs) are an interesting alternative for indoor positioning due to certain advantages over other approaches, including their relatively high accuracy, low cost, and room-level signal propagation.…
Improving robot deployment is a central step towards speeding up robot-based automation in manufacturing. A main challenge in robot deployment is how to best place the robot within the workcell. To tackle this challenge, we combine two…
Distributed multi-antenna systems are an important enabling technology for future intelligent transportation systems (ITS), showing promising performance in vehicular communications and near-field (NF) localization applications. This work…
Visible light positioning (VLP) is widely believed to be a cost-effective answer to the growing demanded for robot indoor positioning. Considering that some extreme environments require robot to be equipped with a precise and…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…
This study investigates signal transmission within a shared spectrum, focusing on measurements conducted both in laboratory and outdoor environments. The objective was to demonstrate how laboratory objects obstructing the line of sight can…
Using oscillating magnetic fields for indoor positioning is a robust way to resist dynamic environments. This work presents the hard- and software-related optimizations of an induced magnetic field positioning system. We describe a new coil…