Related papers: Experimental Validation of Cooperative RSS-based L…
Cooperative transmission is an emerging communication technique that takes advantage of the broadcast nature of wireless channels. However, due to low spectral efficiency and the requirement of orthogonal channels, its potential for use in…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
Distributed cooperative localization in wireless networks is a challenging problem since it typically requires solving a large-scale nonconvex and nonsmooth optimization problem. In this paper, we reformulate the classic cooperative…
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
The application of cooperative localization in vehicular networks is attractive to improve accuracy and coverage. Conventional distance measurements between vehicles are limited by the need for synchronization and provide no heading…
To enhance the positioning and tracking performance of dynamic user equipment (UE) in wideband millimeter-wave (mmWave) systems, we propose a novel positioning error lower bound (PELB)-driven ping-pong positioning framework, where the base…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
This work introduces SynPF, an MCL-based algorithm tailored for high-speed racing environments. Benchmarked against Cartographer, a state-of-the-art pose-graph SLAM algorithm, SynPF leverages synergies from previous particle-filtering…
Localisation in GPS-denied environments is challenging and many existing solutions have infrastructural and on-site calibration requirements. This paper tackles these challenges by proposing a localisation system that is infrastructure-free…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
In this study, we investigate hybrid utilization of angle-of-arrival (AOA) and received signal strength (RSS) information in visible light communication (VLC) systems for 3D localization. We show that AOA-based localization method allows…
In a visible light positioning (VLP) system, a receiver can estimate its location based on signals transmitted by light emitting diodes (LEDs). In this manuscript, we investigate a quasi-synchronous VLP system, in which the LED transmitters…
In this paper, we consider a relative received link power (RRLP)-based coordinated multi-point (CoMP) joint transmission (JT) in the multi-tier ultra-dense networks (UDN). In this CoMP scheme, we identify the cooperating base stations (BSs)…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…