Related papers: Real-Time Initialization of Unknown Anchors for UW…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) service is either unavailable or has unsatisfactory performance.…
To satisfy the high data rate requirement andreliable transmission demands in underwater scenarios, it isdesirable to construct an efficient hybrid underwater opticalacoustic network (UWOAN) architecture by considering the keyfeatures and…
Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requires deployment of substantial infrastructure (infrared…
In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D…
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…
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…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
Understanding the location of ultra-wideband (UWB) tag-attached objects and people in the real world is vital to enabling a smooth cyber-physical transition. However, most UWB localization systems today require multiple anchors in the…
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
Indoor localization systems face a fundamental trade-off between efficiency and responsiveness, which is especially important for emerging use cases such as mobile robots operating in GPS-denied environments. Traditional RTLS either require…
The integration of Reconfigurable Intelligent Surfaces (RIS) in 6G wireless networks offers unprecedented control over communication environments. However, identifying optimal configurations within practical constraints remains a…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…
Ultra-Wideband (UWB) is one of the key technologies empowering the Internet of Thing (IoT) concept to perform reliable, energy-efficient, and highly accurate monitoring, screening, and localization in indoor environments. Performance of…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…