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Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…
Modern navigation systems rely heavily on Global Navigation Satellite Systems (GNSS), whose weak spaceborne signals are vulnerable to jamming, spoofing, and line-of-sight blockage. As an alternative, the Earth's magnetic field entails…
The performance bounds of near-field sensing are studied for circular arrays, focusing on the impact of bandwidth and array size. The closed-form Cramer-Rao bound (CRBs) for angle and distance estimation are derived, revealing the scaling…
This paper investigates intelligent reflecting surface (IRS) enabled non-line-of-sight (NLoS) wireless sensing, in which an IRS is dedicatedly deployed to assist an access point (AP) to sense a target at its NLoS region. It is assumed that…
Visual Simultaneous Localization and Mapping (vSLAM) systems encounter substantial challenges in dynamic environments where moving objects compromise tracking accuracy and map consistency. This paper introduces PCR-ORB (Point Cloud…
Accurate parameter estimation such as angle of arrival (AOA) is essential to enhance the performance of integrated sensing and communication (ISAC) in mmWave multiple-input multiple-output (MIMO) systems. This work presents a sensing-aided…
Accurate node localization is vital for mobile ad hoc networks (MANETs). Current methods like Time of Arrival (TOA) can estimate node positions using imprecise baseplates and achieve the Cram\'er-Rao lower bound (CRLB) accuracy. In…
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, traversability estimation for legged robots on rough terrains…
The use of Intelligent Reflective Surfaces (IRS) to assist communication and sensing has proven cost-effective in challenging scenarios. For sensing, IRS is shown to sense non-line-of-sight (NLOS) and stealth targets, albeit with…
In this paper, we propose a new beam allocation strategy aiming to maximize the average successful tracking probability (ASTP) of time-varying millimeter-wave MIMO systems. In contrast to most existing works that employ one…
Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampling-based planners such as MPPI to generate short-term…
Cooperative positioning with multiple low earth orbit (LEO) satellites is promising in providing location-based services and enhancing satellite-terrestrial communication. However, positioning accuracy is greatly affected by inter-beam…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
In this work, we propose an innovative system that combines high-altitude platforms (HAPs) and optical intelligent reflecting surfaces (OIRS) to address line-of-sight (LOS) challenges in urban environments. Our three-hops system setup…
Extreme precision radial velocity (EPRV) surveys usually require extensive observational baselines to confirm planetary candidates, making them resource-intensive. Traditionally, periodograms are used to identify promising candidate signals…
This paper investigates the potential of near-field localization using widely-spaced multi-subarrays (WSMSs) and analyzing the corresponding angle and range Cram\'er-Rao bounds (CRBs). By employing the Riemann sum, closed-form CRB…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
Simultaneous Localization and Planning (SLAP) under process and measurement uncertainties is a challenge. It involves solving a stochastic control problem modeled as a Partially Observed Markov Decision Process (POMDP) in a general…
This paper investigates an analytical model for low-earth orbit (LEO) multi-satellite downlink non-orthogonal multiple access (NOMA) networks. The satellites transmit data to multiple NOMA user terminals (UTs), each employing successive…
The Coronal Multichannel Polarimeter (CoMP) routinely performs coronal polarimetric measurements using the Fe XIII 10747 $\AA$ and 10798 $\AA$ lines, which are sensitive to the coronal magnetic field. However, inverting such polarimetric…