Related papers: Cosmic Ray Navigation System (CRoNS) for Autonomou…
Muons are the most abundant charged particles arriving at sea level originating from the decay of secondary charged pions and kaons. These secondary particles are created when high-energy cosmic rays hit the atmosphere interacting with air…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…
Muon detectors and neutron monitors were recently installed at Syowa Station, in the Antarctic, to observe different types of secondary particles resulting from cosmic ray interactions simultaneously from the same location. Continuing…
Location information is critical to a wide-variety of navigation and tracking applications. Today, GPS is the de-facto outdoor localization system but has been shown to be vulnerable to signal spoofing attacks. Inertial Navigation Systems…
This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection and…
Cosmic rays (CRs) are thought to play a dynamically important role in several key aspects of galaxy evolution, including the structure of the interstellar medium, the formation of galactic winds, and the non-thermal pressure support of…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
In the global navigation satellite system (GNSS), identifying not only single but also compound jamming signals is crucial for ensuring reliable navigation and positioning, particularly in future wireless communication scenarios such as the…
This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably, because the agent cannot predict the ground-truth future…
The transport of energetic particles such as Cosmic Rays is governed by the properties of the plasma being traversed. While these properties are rather poorly known for galactic and interstellar plasmas due to the lack of in situ…
Cosmic rays (CRs) play a pivotal role in various astrophysical systems, delivering feedback over a broad range of scales. However, modeling CR transport remains challenging due to its inherently multi-scale nature and complex microphysics.…
Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their ability to model complex errors using data. However,…
This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite Systems (GNSS) typically perform poorly in urban environments, where the likelihood of line-of-sight conditions…
This study outlines the progress of a collaborative effort between INRIM and MUOGRAPHIX-The University of Tokyo, focusing on using muons from cosmic-ray-induced Extensive Air Showers (EAS) to synchronize atomic clocks and disseminate atomic…
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…