Related papers: Multi-Hypotheses Ego-Tracking for Resilient Naviga…
With the upcoming multitude of commercial and public applications envisioned in the mobile 6G radio landscape using unmanned aerial vehicles (UAVs), integrated sensing and communication (ISAC) plays a key role to enable the detection and…
Global Navigation Satellite Systems (GNSS) provide the backbone of Positioning, Navigation, and Timing (PNT) but remain vulnerable to interference. Low Earth Orbit (LEO) constellations within Fifth-Generation (5G) Non-Terrestrial Networks…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
It is widely known that spoofing is a major threat that adversely impacts the reliability and accuracy of GNSS applications. In this study, a crowdsourcing double differential pseudorange spatial (D2SP) random set is constructed and the…
Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making…
Autonomous unmanned aerial vehicle (UAV) inertial navigation exhibits an extreme dependency on the availability of global navigation satellite systems (GNSS) signals, without which it incurs in a slow but unavoidable position drift that may…
In urban areas, global navigation satellite system (GNSS) signals are often reflected or blocked by buildings, thus resulting in large positioning errors. In this study, we proposed a machine learning approach for global positioning system…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat, as they compromise the robustness of accurate positioning. The detection of anomalies within frequency snapshots is crucial to…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
Autonomous vehicles (AVs) promise efficient, clean and cost-effective transportation systems, but their reliance on sensors, wireless communications, and decision-making systems makes them vulnerable to cyberattacks and physical threats.…
This paper investigates the multiuser tracking and signal detection problem in integrated sensing and communication (ISAC) systems with the assistance of reconfigurable intelligent surfaces (RISs). Due to the diverse and high user mobility,…
Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight…
A resilient multi-vehicle system cooperatively performs tasks by exchanging information, detecting, and removing cyber attacks that have the intent of hijacking or diminishing performance of the entire system. In this paper, we propose a…
In practical scenarios where training data is limited, many predictive signals in the data can be rather from some biases in data acquisition (i.e., less generalizable), so that one cannot prevent a model from co-adapting on such…
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection and…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
In this study, a sensor fusion based GNSS spoofing attack detection framework is presented that consists of three concurrent strategies for an autonomous vehicle (AV): (i) prediction of location shift, (ii) detection of turns (left or…
Recently autonomous and semi-autonomous Unmanned Aerial Vehicle (UAV) swarms started to receive a lot of research interest and demand from various civil application fields. However, for successful mission execution, UAV swarms require…
In a spoofing attack, an attacker impersonates a legitimate user to access or tamper with data intended for or produced by the legitimate user. In wireless communication systems, these attacks may be detected by relying on features of the…