Related papers: Posterior Cram\'er-Rao Bounds on Localization and …
Multiple antenna arrays play a key role in wireless networks for communications but also localization and sensing. The use of large antenna arrays pushes towards a propagation regime in which the wavefront is no longer plane but spherical.…
Distributed LiDAR SLAM is crucial for achieving efficient robot autonomy and improving the scalability of mapping. However, two issues need to be considered when applying it in field environments: one is resource limitation, and the other…
This paper studies a networked sensing system with multiple base stations (BSs), which collaboratively sense the unknown and random three-dimensional (3D) location of a target based on the target-reflected echo signals received at the BSs.…
Future sixth-generation (6G) networks are envisioned to provide both sensing and communications functionalities by using densely deployed base stations (BSs) with massive antennas operating in millimeter wave (mmWave) and terahertz (THz).…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
This paper investigates the potential of non-terrestrial and terrestrial signals of opportunity (SOOP) for navigation applications. Non-terrestrial SOOP analysis employs modified Cram\`er-Rao lower bound (MCRLB) to establish a relationship…
This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…
This paper studies a near-field multiple-input multiple-output (MIMO) radar sensing system, in which the transceivers with massive antennas aim to localize multiple near-field targets in the three-dimensional (3D) space over unknown…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
In wireless networks, an essential step for precise range-based localization is the high-resolution estimation of multipath channel delays. The resolution of traditional delay estimation algorithms is inversely proportional to the bandwidth…
This paper investigates the potential of near-field localization using widely-spaced multi-subarrays (WSMSs) and analyzing the corresponding angle and range Cram\'er-Rao bounds (CRBs). By employing the Riemann sum, closed-form CRB…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
Multipath-based simultaneous localization and mapping (SLAM) is a promising approach to obtain position information of transmitters and receivers as well as information regarding the propagation environments in future mobile communication…
This paper proposes a high-accuracy radio map construction method tailored for environments where location information is affected by bursty errors. Radio maps are an effective tool for visualizing wireless environments. Although extensive…
We propose a 6D Bayesian-based localization framework to estimate the position and rotation angles of a mobile station (MS) within an indoor reconfigurable intelligent surface (RIS)-aided system. This framework relies on a probabilistic…
Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a framework that consists of a diverse set of computational…
Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. While their benefits for achieving high-data rate communications are well-known, their potential advantages for accurate…
We investigate a multi-low Earth orbit (LEO) satellite system that simultaneously provides positioning and communication services to terrestrial user terminals. To address the challenges of accurately acquiring channel state information in…