Related papers: Factor-Graph-Based Passive Acoustic Navigation for…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of…
We propose a novel receiver for orthogonal frequency division multiplexing (OFDM) transmissions in impulsive noise environments. Impulsive noise arises in many modern wireless and wireline communication systems, such as Wi-Fi and powerline…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
Autonomous Unmanned Aerial Vehicle (UAV) swarms are increasingly used as rapidly deployable aerial relays and sensing platforms, yet practical deployments must operate under partial observability and intermittent peer-to-peer links. We…
Large-scale Unmanned Aerial Vehicle (UAV) failures can split an unmanned aerial vehicle swarm network into disconnected sub-networks, making decentralized recovery both urgent and difficult. Centralized recovery methods depend on global…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of their team members to complete coordinated actions. However,…
This paper addresses the efficient management of Mobile Access Points (MAPs), which are Unmanned Aerial Vehicles (UAV), in 5G networks. We propose a two-level hierarchical architecture, which dynamically reconfigures the network while…
This paper addresses a novel multi-agent deep reinforcement learning (MADRL)-based positioning algorithm for multiple unmanned aerial vehicles (UAVs) collaboration (i.e., UAVs work as mobile base stations). The primary objective of the…
Location awareness is now becoming a vital requirement for many practical applications. In this paper, we consider passive localization of multiple targets with one transmitter and several receivers based on time of arrival (TOA)…
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…
This paper focuses on the problem of estimating bearing vectors between the agents in a two dimensional multi-agent network based on subtended angle measurements, called edge localization problem. We propose an edge localization graph to…
The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Recently, acoustic communication employing Orbital Angular Momentum (OAM) opens another avenue for efficient data transmission in aquatic environments. Current topological charge (TC) detection of OAM beams relies on the orthogonality among…
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…