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Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…
Sensors in buildings are used for a wide variety of applications such as monitoring air quality, contaminants, indoor temperature, and relative humidity. These are used for accessing and ensuring indoor air quality, and also for ensuring…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Radio-based localization in dynamic environments, such as urban and vehicular settings, requires systems that efficiently adapt to varying signal conditions and environmental changes. Factors like multipath interference and obstructions…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…
The assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…
This paper proposes a novel location information aided multiple intelligent reflecting surface (IRS) systems. Assuming imperfect user location information, the effective angles from the IRS to the users are estimated, which is then used to…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
We consider the following positioning problem where several base stations (BS) try to locate a user equipment (UE): The UE sends a positioning signal to several BS. Each BS performs Angle of Arrival (AoA) measurements on the received…
Artificial Intelligence (AI) systems are increasingly prominent in emerging smart cities, yet their reliability remains a critical concern. These systems typically operate through a sequence of interconnected functional stages, where…
In the context of signal detection in the presence of an unknown time-varying channel parameter, receivers based on the Expectation Propagation (EP) framework appear to be very promising. EP is a message-passing algorithm based on factor…
A reconfigurable intelligent surface (RIS) allows a reflection transmission path between a base station (BS) and user equipment (UE). In wireless localization, this reflection path aids in positioning accuracy, especially when the…
Tampering of metering infrastructure of an electrical distribution system can significantly cause customers' billing discrepancy. The large-scale deployment of smart meters may potentially be tampered by malware by propagating their agents…
Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement…