Related papers: Real-Time Initialization of Unknown Anchors for UW…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Relative localization is a crucial functional block of any robotic swarm. We address it in a fleet of nano-drones characterized by a 10 cm-scale form factor, which makes them highly versatile but also strictly limited in their onboard power…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
Precise localization and tracking of moving non-collaborative persons and objects using a network of ultra-wideband (UWB) radar nodes has been shown to represent a practical and effective approach. In UWB radar sensor networks (RSNs),…
Many applications have been identified which require the deployment of large-scale low-power wireless sensor networks. Some of the deployment environments, however, impose harsh operation conditions due to intense cross-technology…
Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…
Wireless Technology Recognition (WTR) and localization are essential in modern communication systems, enabling efficient spectrum management, seamless coexistence of diverse technologies, and accurate positioning in dynamic environments. In…
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…
High-precision positioning is vital for cellular networks to support innovative applications such as extended reality, unmanned aerial vehicles (UAVs), and industrial Internet of Things (IoT) systems. Existing positioning algorithms using…
Locating each node in a wireless sensor network is essential for starting the monitoring job and sending information about the area. One method that has been used in hard and inaccessible environments is randomly scattering each node in the…
In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…
Rodents have long been established as the premier model for behavioral studies, traditionally raised and maintained in conventional cage environments. However, these settings often limit rodents' ability to exhibit their full range of…
The emergence of large-scale wireless networks with partially-observable and time-varying dynamics has imposed new challenges on the design of optimal control policies. This paper studies efficient scheduling algorithms for wireless…
Artificial Intelligence-enabled systems are increasingly being deployed in real-world safety-critical settings involving human participants. It is vital to ensure the safety of such systems and stop the evolution of the system with error…
High accuracy localisation technologies exist but are prohibitively expensive to deploy for large indoor spaces such as warehouses, factories, and supermarkets to track assets and people. However, these technologies can be used to lend…
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
In this paper, we investigate ultra-wideband (UWB) localization and tracking in cluttered environments. Instead of mitigating the multipath, we exploit the specular reflections to enhance the localizability and improve the positioning…