Related papers: Range-Only Localization System for Small-Scale Fla…
Precise relative localization is a crucial functional block for swarm robotics. This work presents a novel autonomous end-to-end system that addresses the monocular relative localization, through deep neural networks (DNNs), of two peer…
We propose a novel solution to the rigid body localization (RBL) problem, in which the three-dimensional (3D) rotation and translation is estimated by only utilizing the range measurements between the wireless sensors on the rigid body and…
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
The key motivation for the low-frequency magnetic localization approach is that magnetic near-fields are well predictable by a free-space model, which should enable accurate localization. Yet, limited accuracy has been reported for…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…
In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…
During this decade, Wireless Sensor Networks (WSNs) brought an increasing interest in the industrial and research world. One of their applications is the indoor localization. The ranging, i.e. the distance evaluation mechanism between…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
In this paper, we propose a range-based localization algorithm to localize a wireless sensor network (WSN) in 2D. A widely used algorithm to localize a WSN in 2D is trilateration, which runs in polynomial time. Trilateration uses three…
We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading…
Neuromorphic computing offers a transformative pathway to overcome the computational and energy challenges faced in deploying robotic localization and navigation systems at the edge. Visual place recognition, a critical component for…
Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…