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This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
This study presents a methodology for determining the optimal base placement of a Fanuc CRX10iA/L collaborative robot for a desired trajectory corresponding to an industrial task. The proposed method uses a particle swarm optimization…
Effective monitoring of whale populations is critical for conservation, but traditional survey methods are expensive and difficult to scale. While prior work has shown that whales can be identified in very high-resolution (VHR) satellite…
A recent metaheuristic algorithm, such as Whale Optimization Algorithm (WOA), was proposed. The idea of proposing this algorithm belongs to the hunting behavior of the humpback whale. However, WOA suffers from poor performance in the…
We extend our work on a novel indoor positioning system (IPS) for autonomous mobile robots (AMRs) based on radar sensing of local, passive radar reflectors. Through the combination of simple reflectors and a single-channel frequency…
This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a…
We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to…
Metaheuristic algorithms such as particle swarm optimization, firefly algorithm and harmony search are now becoming powerful methods for solving many tough optimization problems. In this paper, we propose a new metaheuristic method, the Bat…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…
Swarm intelligence algorithms have traditionally been designed for continuous optimization problems, and these algorithms have been modified and extended for application to discrete optimization problems. Notably, their application in…
Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
Product reuse and recovery is an efficient tool that helps companies to simultaneously address economic and environmental dimensions of sustainability. This paper presents a novel problem for stock management of reusable products in a…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Metaheuristic algorithms have gained widespread application across various fields owing to their ability to generate diverse solutions. One such algorithm is the Snake Optimizer (SO), a progressive optimization approach. However, SO suffers…
Purpose: The development of metaheuristic algorithms has increased by researchers to use them extensively in the field of business, science, and engineering. One of the common metaheuristic optimization algorithms is called Grey Wolf…