Related papers: Magneto-oscillatory localization for small-scale r…
Using oscillating magnetic fields for indoor positioning is a robust way to resist dynamic environments. This work presents the hard- and software-related optimizations of an induced magnetic field positioning system. We describe a new coil…
Reliability is a key factor for realizing safety guarantee of full autonomous robot systems. In this paper, we focus on reliability in mobile robot localization. Monte Carlo localization (MCL) is widely used for mobile robot localization.…
In this work, we develop a nanoscale magnetic field sensor based on a spin-Hall nano-oscillator (SHNO) device. We fabricate constriction-based SHNO devices using Ni$_{81}$Fe$_{19}$/Au$_{0.25}$Pt$_{0.75}$ bilayer and use them to demonstrate…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Self-localization is a fundamental capability that mobile robot navigation systems integrate to move from one point to another using a map. Thus, any enhancement in localization accuracy is crucial to perform delicate dexterity tasks. This…
Attitude estimation or determination is a fundamental task for satellites to remain effectively operational. This task is furthermore complicated on small satellites by the limited space and computational power available on-board. This,…
Miniature robots are untethered actuators, which have significant potential to make existing minimally invasive surgery considerably safer and painless, and enable unprecedented treatments because they are much smaller and dexterous than…
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
The activated torsion oscillation magnetometer exploits the mechanical resonance of a cantilever beam, driven by the torque exerted on the sample by an ac field applied perpendicularly to the film plane. We describe a model for the…
Simultaneous localization and mapping (SLAM) has been extensively researched in past years particularly with regard to range-based or visual-based sensors. Instead of deploying dedicated devices that use visual features, it is more…
Magnetic skyrmion motion induced by an electric current has drawn much interest because of its application potential in next-generation magnetic memory devices. Recently, unidirectional skyrmion motion driven by an oscillating magnetic…
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associations to achieve real-time estimation and high precision…
This paper proposes a radio simultaneous location and mapping (radio-SLAM) scheme based on sparse multipath channel estimation. By leveraging sparse channel estimation schemes at millimeter wave bands, namely high resolution estimates of…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
A single-passage, bimodal magnetic force microscopy technique optimized for scanning samples with arbitrary topography is discussed. A double phase-locked loop (PLL) system is used to mechanically excite a high quality factor cantilever…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
For decades, the determination of an objects location has been implemented utilizing different technologies. Despite GPS (Global Positioning System) provides a scalable efficient and cost effective location services however the satellite…
We report a new spin manipulation protocol for periodically reversing the sample magnetization for Magnetic Resonance Force Microscopy. The protocol modulates the microwave excitation frequency synchronously with the position of the…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…