Related papers: MGPRL: Distributed Multi-Gaussian Processes for Wi…
Fingerprinting based WLAN indoor positioning system (FWIPS) provides a promising indoor positioning solution to meet the growing interests for indoor location-based services (e.g., indoor way finding or geo-fencing). FWIPS is preferred…
Radio frequency (RF) signal-based localization using modern cellular networks has emerged as a promising solution to accurately locate objects in challenging environments. One of the most promising solutions for situations involving…
This paper studies multi-agent deep reinforcement learning (MADRL) based resource allocation methods for multi-cell wireless powered communication networks (WPCNs) where multiple hybrid access points (H-APs) wirelessly charge energy-limited…
Cross-graph Relational Learning (CGRL) refers to the problem of predicting the strengths or labels of multi-relational tuples of heterogeneous object types, through the joint inference over multiple graphs which specify the internal…
Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space…
The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…
This paper introduces novel deep reinforcement learning (Deep-RL) techniques using parallel distributional actor-critic networks for navigating terrestrial mobile robots. Our approaches use laser range findings, relative distance, and angle…
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…
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,…
Indoor localization has drawn much attention owing to its potential for supporting location based services. Among various indoor localization techniques, the received signal strength (RSS) based technique is widely researched. However, in…
Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…
Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
Gas source localization (GSL) with an autonomous robot is a problem with many prospective applications, from finding pipe leaks to emergency-response scenarios. In this work, we present a new method to perform GSL in realistic indoor…
Sufficient training data normally is required to train deeply learned models. However, due to the expensive manual process for labelling large number of images, the amount of available training data is always limited. To produce more data…
Decentralized collision avoidance is a core challenge for scalable multi-robot systems. One of the promising approaches to tackle this problem is Model Predictive Path Integral (MPPI) -- a framework that naturally handles arbitrary motion…
The sparsity of millimeter wave (mmWave) channels in the angular and temporal domains is beneficial to channel estimation, while the associated channel parameters can be utilized for localization. However, line-of-sight (LoS) blockage poses…
Place recognition is crucial for tasks like loop-closure detection and re-localization. Single-chip millimeter wave radar (single-chip radar in short) emerges as a low-cost sensor option for place recognition, with the advantage of…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…