Related papers: Robust Position Estimation by Rao-Blackwellized Pa…
While stochastic geometry provides a powerful framework for the analysis of cellular networks, standard Monte Carlo simulations often suffer from slow convergence due to the stochasticity of the infinite far-field. This work introduces the…
A Markov decision process-based state switching is devised, implemented, and analyzed for proximity operations of various autonomous vehicles. The framework contains a pose estimator along with a multi-state guidance algorithm. The unified…
In urban environments, global navigation satellite system (GNSS) positioning is often compromised by signal blockages and multipath effects caused by buildings, leading to significant positioning errors. To address this issue, this study…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…
Global Navigation Satellite System (GNSS) is essential for autonomous driving systems, unmanned vehicles, and various location-based technologies, as it provides the precise geospatial information necessary for navigation and situational…
This paper develops an arbitrary-positioned buffer for the smoothed particle hydrodynamics (SPH) method, whose generality and high efficiency are achieved through two techniques. First, with the local coordinate system established at each…
This paper deals with the implementation of the extended robust Kalman filter (ERKF) which was developed considering uncertainties in the parameter matrices of the underlying state-space model. A key contribution of this work is the…
Particle filtering is a powerful approximation method that applies to state estimation in nonlinear and non-Gaussian dynamical state-space models. Unfortunately, the approximation error depends exponentially on the system dimension. This…
Accurate and fast localization is vital for safe autonomous navigation in GPS-denied areas. Fine-Grained Cross-View Geolocalization (FG-CVG) aims to estimate the precise 2-Degree-of-Freedom (2-DoF) location of a ground image relative to a…
This paper is concerned with sequential filtering based stochastic optimization (FSO) approaches that leverage a probabilistic perspective to implement the incremental proximity method (IPM). The present FSO methods are derived based on the…
Localization and tracking of a mobile node (MN) in non-line-of-sight (NLOS) scenarios, based on time of arrival (TOA) measurements, is considered in this work. To this end, we develop a constrained form of square root unscented Kalman…
Real-world applications of bipedal robot walking require accurate, real-time state estimation. State estimation for locomotion over dynamic rigid surfaces (DRS), such as elevators, ships, public transport vehicles, and aircraft, remains…
Motivated by non-linear, non-Gaussian, distributed multi-sensor/agent navigation and tracking applications, we propose a multi-rate consensus/fusion based framework for distributed implementation of the particle filter (CF/DPF). The CF/DPF…
Millimeter-wave (mmWave) positioning has emerged as a promising technology for next-generation intelligent systems. The advent of reconfigurable intelligent surfaces (RISs) has revolutionized high-precision mmWave localization by enabling…
In this paper, a dual estimation methodology is developed for both time-varying parameters and states of a nonlinear stochastic system based on the Particle Filtering (PF) scheme. Our developed methodology is based on a concurrent…
The number of resident space objects is rising at an alarming rate. Mega-constellations and breakup events are proliferating in most orbital regimes, and safe navigation is becoming increasingly problematic. It is important to be able to…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
Ray tracing (RT) simulations require accurate transmitter (TX) and receiver (RX) location information from real-world measurements to accurately characterize wireless propagation behavior in an environment. Such wireless propagation…