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Global Navigation Satellite Systems (GNSS) applications are often hindered by various sources of error, with multipath interference being one of the most challenging, particularly in urban environments. In this work, we build on previous…
Massive multiple-input multiple-output (mMIMO) is a key capacity-boosting technology in 5G wireless systems. To reduce the number of radio frequency (RF) chains needed in such systems, a novel approach has recently been introduced involving…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…
With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…
Integrated sensing and communication (ISAC) emerged as a key feature of next-generation 6G wireless systems, allowing them to achieve high data rates and sensing accuracy. While prior research has primarily focused on addressing…
In this paper, we address the problem of target detection in the presence of coherent (or fully correlated) signals, which can be due to multipath propagation effects or electronic attacks by smart jammers. To this end, we formulate the…
Global Navigation Satellite Systems (GNSS) provide Positioning, Navigation, and Timing (PNT) information to over 4 billion devices worldwide. Despite its pervasive use in safety critical and high precision applications, GNSS remains…
Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
Global Navigation Satellite System (GNSS) receivers provide ubiquitous and precise position, navigation, and time (PNT) to a wide gamut of civilian and tactical infrastructures and devices. Due to the low GNSS received signal power, even…
Recently, Unmanned Aerial Vehicles (UAVs) are employed for a plethora of civilian applications. Such flying vehicles can accomplish tasks under the pilot's eyesight within the range of a remote controller, or autonomously according to a…
Emerging 5G millimeter-wave and sub-6 GHz networks enable high-accuracy indoor localization, but security and privacy vulnerabilities pose serious challenges. In this paper, we identify and address threats including location spoofing and…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
The problem of identifying regions of spatially interesting, different or adversarial behavior is inherent to many practical applications involving distributed multisensor systems. In this work, we develop a general framework stemming from…
Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate…
Constrained environments, such as indoor and urban settings, present a significant challenge for accurate moving object positioning due to the diminished line-of-sight (LoS)communication with the wireless anchor used for positioning. The…
Global Navigation Satellite Systems (GNSS) are critical for Positioning, Navigation, and Timing (PNT) applications. However, GNSS are highly vulnerable to spoofing attacks, where adversaries transmit counterfeit signals to mislead…