Related papers: Mobility-Aware Localization in mmWave Channel: Ada…
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…
Cooperative perception enables vehicles to share sensor readings and has become a new paradigm to improve driving safety, where the key enabling technology for realizing this vision is to real-time and accurately align and fuse the…
We propose sparsity-adaptive beamspace channel estimation algorithms that improve accuracy for 1-bit data converters in all-digital millimeter-wave (mmWave) massive multiple-input multiple-output (MIMO) basestations. Our algorithms include…
This paper presents a design methodology for optimal transmission energy allocation at a sensor equipped with energy harvesting technology for remote state estimation of linear stochastic dynamical systems. In this framework, the sensor…
When faulty sensors are rare in a network, diagnosing sensors individually is inefficient. This study introduces a novel use of concepts from group testing and Kalman filtering in detecting these rare faulty sensors with significantly fewer…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…
Advanced Aerial Mobility (AAM) operations require strategic flight planning services that predict both spatial and temporal uncertainties to safely validate flight plans against hazards such as weather cells, restricted airspaces, and CNS…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…
This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level…
The millimeter wave (mmWave) frequencies offer the availability of huge bandwidths to provide unprecedented data rates to next-generation cellular mobile terminals. However, directional mmWave links are highly susceptible to rapid channel…
This paper presents a neural network-based Unscented Kalman Filter (UKF) to estimate and track the pose (i.e., position and orientation) of a known, noncooperative, tumbling target spacecraft in a close-proximity rendezvous scenario. The…
Millimeter wave (mmWave) technology is expected to be a major component of 5G wireless networks. Ultra-wide bandwidths of mmWave signals and the possibility of utilizing large number of antennas at the transmitter and the receiver allow…
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…
We present a single-channel phase-sensitive speech enhancement algorithm that is based on modulation-domain Kalman filtering and on tracking the speech phase using circular statistics. With Kalman filtering, using that speech and noise are…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
The high path loss associated with millimeter wave (mmWave) frequency communication can be compensated by large scale antenna arrays such as multiple-input multiple-output (MIMO) systems. The hybrid beamforming architecture which uses fewer…
Many applications involve humans in the loop, where continuous and accurate human motion monitoring provides valuable information for safe and intuitive human-machine interaction. Portable devices such as inertial measurement units (IMUs)…
This paper presents a novel design methodology for optimal transmission policies at a smart sensor to remotely estimate the state of a stable linear stochastic dynamical system. The sensor makes measurements of the process and forms…