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The automatic road roller, as a popular type of construction robot, has attracted much interest from both the industry and the research community in recent years. However, when it comes to tunnels where the degeneration issues are prone to…
The beamforming performance of the uniform circular array (UCA) in near-field wideband communication systems is investigated. Compared to uniform linear array (ULA), UCA exhibits uniform effective array aperture in all directions, thus…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
The estimation of direction of arrival (DOA) is a crucial issue in conventional radar, wireless communication, and integrated sensing and communication (ISAC) systems. However, low-cost systems often suffer from imperfect factors, such as…
We consider the problem of obtaining relative location information between two wireless nodes from the differences in their ultra-wideband (UWB) channels to observer nodes. Our approach focuses on the delays of multipath components (MPCs)…
The high time resolution of ultra-wideband (UWB) signals facilitates very precise position estimation in many scenarios, which makes a variety applications possible. This paper reviews the problem of position estimation in UWB systems,…
Localizing targets outside the anchors' convex hull is an understudied but prevalent scenario in vehicle-centric, UAV-based, and self-localization applications. Considering such scenarios, this paper studies the optimal anchor placement…
This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
As Wireless Sensor Networks are penetrating into the industrial domain, many research opportunities are emerging. One such essential and challenging application is that of node localization. A feed-forward neural network based methodology…
The time difference of arrival (TDOA) problem admits exact, purely algebraic solutions for the situation in which there are 4 and 5 sensors and a single source whose position is to be determined in 3 dimensions. The solutions are exact in…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Large-scale MIMO systems are well known for their advantages in communications, but they also have the potential for providing very accurate localization thanks to their high angular resolution. A difficult problem arising indoors and…
In this work, a system scheme is proposed for tracking a radio emitting target moving in two-dimensional space. The localization is based on the use of biased time-of-arrival (TOA) measurements obtained at two asynchronous receivers, each…
This paper presents, for the first time, an open-source implementation of the 3GPP Uplink Time Difference of Arrival (UL-TDoA) positioning method using the OpenAirInterface (OAI) framework. UL-TDoA is a critical positioning technique in 5G…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…
The complex and dynamic propagation of oscillations and waves is often triggered by sources at unknown locations. Accurate source localization enables the elimination of the rotor core in atrial fibrillation (AFib) as an effective treatment…
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…
The conventional direction of arrival (DOA) estimation methods are performed with multiple receiving channels. In this paper, a changeling DOA estimation problem is addressed in a different scenario with only one full-functional receiving…