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Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the objects to be mapped are placed in a pool that is imaged via…
The underwater Unmanned Vehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular…
Acoustic ranging based indoor positioning solutions have the advantage of higher ranging accuracy and better compatibility with commercial-off-the-self consumer devices. However, similar to other time-domain based approaches using…
A passive underwater acoustic marker is presented and its feasibility for underwater recognition, positioning, and navigation is proved by a numerical method and experimental results. These markers are composed of acrylic elastic objects…
Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated…
As the demand for underwater communication continues to grow, underwater acoustic RIS (UARIS), as an emerging paradigm in underwater acoustic communication (UAC), can significantly improve the communication rate of underwater acoustic…
Key challenges in developing underwater acoustic localization methods are related to the combined effects of high reverberation in intricate environments. To address such challenges, recent studies have shown that with a properly designed…
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
We present in this paper an ultra-low power (ULP) Recurrent Neural Network (RNN) based classifier for an always-on voice Wake-Up Sensor (WUS) with performances suitable for real-world applications. The purpose of our sensor is to bring down…
Reliable positioning services are extremely important for users and devices in mountainous environments as it enables a variety of location-based applications. However, in such environments, the service reliability of conventional wireless…
This Letter presents a novel hybrid underwater wireless optical communication (UWOC) system that integrates underwater optical access points (UOAPs) with a passive optical network (PON)-based fiber-optic backhaul to provide a resilient…
This paper presents a novel testbed designed for 5th-Generation (5G) positioning using Universal Software Radio Peripherals (USRPs). The testbed integrates multiple units: an Operation Unit for test management, a User Unit equipped with an…
This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…
Underwater environments pose unique challenges for robotic navigation and manipulation. While existing research has primarily focused on task-specific methods, studies on general-purpose intelligence for multi-task execution remain scarce.…
Millimeter-wave (mmWave) positioning has emerged as a promising technology for next-generation intelligent systems. The advent of reconfigurable intelligent surfaces (RISs) has revolutionized high-precision mmWave localization by enabling…
Unmanned Surface Vehicles (USVs) are increasingly applied to water operations such as environmental monitoring and river-map modeling. It faces a significant challenge in achieving precise autonomous docking at ports or stations, still…
Image retrieval has been employed as a robust complementary technique to address the challenge of Unmanned Aerial Vehicles (UAVs) self-positioning. However, most existing methods primarily focus on localizing objects captured by UAVs…