Related papers: Magneto-oscillatory localization for small-scale r…
We consider a novel rigid body localization (RBL) method, based only on a set of measurements of the distances, as well as the angles between sensors of the vehicle to the anchor landmark points. A key point of the proposed method is to use…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Quantum interference between time-reversed electron paths in two dimensions leads to the well-known weak localization correction to resistance. If spin-orbit coupling is present, the resistance correction is negative, termed weak…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
As a green and secure wireless transmission method, secure spatial modulation (SM) is becoming a hot research area. Its basic idea is to exploit both the index of activated transmit antenna and amplitude phase modulation signal to carry…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
The sensitive detection of either static or radio-frequency \textsc{(rf)} magnetic fields is essential to many fundamental studies and applications. Here, we demonstrate the operation of a cold-atom-based, \textsc{rf} magnetometer in…
This paper characterizes the performance of massive multiuser spatial modulation MIMO systems, when a regularized form of the least-squares method is used for detection. For a generic distortion function and right unitarily invariant…
Small-scale robots hold great potential for targeted cargo delivery in minimally-inv asive medicine. However, current robots often face challenges to locomote efficiently on slip pery biological tissue surfaces, especially when loaded with…
Single molecule localization microscopy (SMLM) permits the visualization of cellular structures an order of magnitude smaller than the diffraction limit of visible light, and an accurate, objective evaluation of the resolution of an SMLM…
Spatial modulation (SM) is an innovative and promising digital modulation technology that strikes an appealing trade-off between spectral efficiency and energy efficiency with a simple design philosophy. SM enjoys plenty of benefits and…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…
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,…
The Magnetic Sail is a space propulsion system that utilizes the interaction between solar wind particles and an artificial dipole magnetic field generated by a spacecraft's coil to produce thrust without the need for additional plasma or…