Related papers: Continuously Optimizing Radar Placement with Model…
This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave radar - a commercially promising sensor poised for exploitation in mobile autonomy. We…
Real-time lane detection in embedded systems encounters significant challenges due to subtle and sparse visual signals in RGB images, often constrained by limited computational resources and power consumption. Although deep learning models…
Mobile robots and autonomous vehicles are often required to function in environments where critical position estimates from sensors such as GPS become uncertain or unreliable. Single image visual place recognition (VPR) provides an…
High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…
Multiple-input multiple-output (MIMO) radar has several advantages with respect to the traditional radar array systems in terms of performance and flexibility. However, in order to achieve high angular resolution, a MIMO radar requires a…
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…
There is tremendous scope for improving the energy efficiency of embedded vision systems by incorporating programmable region-of-interest (ROI) readout in the image sensor design. In this work, we study how ROI programmability can be…
We investigate a monostatic orthogonal frequency-division multiplexing (OFDM)-based joint communication and sensing (JCAS) system for object tracking. Our setup consists of a transmitter and receiver equipped with an antenna array for fully…
State estimation that combines observational data with mathematical models is central to many applications and is commonly addressed through filtering methods, such as ensemble Kalman filters. In this article, we examine the signal-tracking…
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…
Several heuristic procedures to estimate the rotor position of permanent magnet synchronous motors (PMSM) via signal injection have been reported in the literature. Using averaging theory, a framework to analyse such schemes has been…
This article addresses improvements on the design of the adaptive normalized matched filter (ANMF) for radar detection. It is well-acknowledged that the estimation of the noise-clutter covariance matrix is a fundamental step in adaptive…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
This paper addresses adaptive radar detection of dim moving targets. To circumvent range migration, the detection problem is formulated as a multiple hypothesis test and solved applying model order selection rules which allow to estimate…
We consider the downlink transmission in a single cell multiple-input multiple-output system, in which the user equipment correspond to a vehicle moving along a given trajectory. This system utilizes millimeter wave channels characterized…
We present optimality results for robust Kalman filtering where robustness is understood in a distributional sense, i.e.; we enlarge the distribution assumptions made in the ideal model by suitable neighborhoods. This allows for outliers…
Multi-target tracking (MTT) serves as a cornerstone technology in information fusion, yet faces significant challenges in robustness and efficiency when dealing with model uncertainties, clutter interference, and target interactions.…
Optimization of Reconfigurable Intelligent Surfaces (RIS) via a previously introduced method is effective, but time-consuming, because multiport impedance or scatter matrices are required for each transmitter and receiver position, which…
Algorithms for mutual interference mitigation and object parameter estimation are a key enabler for automotive applications of frequency-modulated continuous wave (FMCW) radar. In this paper, we introduce a signal separation method to…
In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…