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This paper introduces novel deep reinforcement learning (Deep-RL) techniques using parallel distributional actor-critic networks for navigating terrestrial mobile robots. Our approaches use laser range findings, relative distance, and angle…
Sensor selection is a useful method to help reduce data throughput, as well as computational, power, and hardware requirements, while still maintaining acceptable performance. Although minimizing the Cram\'er-Rao bound has been adopted…
In conventional dual-function radar-communication (DFRC) systems, the radar and communication channels are routinely estimated at fixed time intervals based on their worst-case operation scenarios. Such situation-agnostic repeated…
Precise localization is one key element of the Internet of Things (IoT). Especially concepts for position estimation when Global Navigation Satellite Systems (GNSS) are unavailable have moved into the focus. One crucial component for…
Simultaneous Localization and Mapping (SLAM) is one of the main components of autonomous navigation systems. With the increase in popularity of drones, autonomous navigation on low-power systems is seeing widespread application. Most SLAM…
Localizing users and mapping the environment using radio signals is a key task in emerging applications such as low-latency communications and safety-critical navigation. Recently introduced multipath-based SLAM methods can jointly localize…
This paper investigates the asymptotic behavior of the deterministic and stochastic Cram\'er-Rao Bounds (CRB) for semi-blind channel estimation in massive multiple-input multiple-output (MIMO) systems. We derive and analyze mathematically…
Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, while deep reinforcement learning(DRL)based approaches provide…
In this paper, we investigate a novel multiple-input multiple-output (MIMO) radar system aided by phase shifter based polarization-reconfigurable antennas (PRAs). Specifically, a base station (BS) equipped with multiple PRAs at both the…
Non-data-aided (NDA) parameter estimation is considered for binary-phase-shift-keying transmission in an additive white Gaussian noise channel. Cramer-Rao lower bounds (CRLBs) for signal amplitude, noise variance, channel reliability…
The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…
Movable antennas (MAs) have emerged as a promising technology to improve wireless communication and sensing performance towards sixth-generation (6G) networks through flexible antenna movement. In this paper, we propose a novel wireless…
Hybrid acoustic-RF systems offer excellent ranging accuracy, yet they typically come at a power consumption that is too high to meet the energy constraints of mobile IoT nodes. We combine pulse compression and synchronized wake-ups to…
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to…
We consider the problem of performing ranging measurements between a source and multiple receivers efficiently and accurately, as required by distance-based wireless localization systems. To this end, a new multipoint ranging algorithm is…
In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on…
While Cram\'er-Rao lower bound is an important metric in sensing functions in integrated sensing and communications (ISAC) designs, its optimization usually involves a computationally expensive solution such as semidefinite relaxation. In…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…
This paper addresses the synthesis of slow-time coded waveforms for single target tracking in a radar network operating under colored Gaussian interference. Based on the Posterior Cram\'er Rao Lower Bound (PCRLB), which characterizes the…