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Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…
With low-altitude economies emerging as a pivotal sector, this study explores an integrated sensing, communication, and computation system over low-altitude wireless networks. A full-duplex autonomous aerial vehicle (AAV) operates as an…
We consider a bistatic vehicular integrated sensing and communications (ISAC) system that employs the recently proposed orthogonal chirp division multiplexing (OCDM) multicarrier waveform. As a stand-alone communications waveform, OCDM has…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…
A class of novel STAP algorithms based on sparse recovery technique were presented. Intrinsic sparsity of distribution of clutter and target energy on spatial-frequency plane was exploited from the viewpoint of compressed sensing. The…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
This paper focuses on an integrated sensing and communication (ISAC) system in the presence of signal-dependent modulated jamming (SDMJ). Our goal is to suppress jamming while carrying out simultaneous communications and sensing. We…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…
In this work, we propose the orthogonal delay-Doppler (DD) division multiplexing (ODDM) modulation with frequency modulated continuous wave (FMCW) (ODDM-FMCW) waveform to enable integrated sensing and communication (ISAC) with a low…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
In this paper, we investigate an integrated sensing-and-communication (ISAC) network enabled by an unmanned aerial vehicle (UAV). The UAV is supposed to fly along a periodical circular trajectory at a fixed height for ISAC service supply…
Point cloud compression methods jointly optimize bitrates and reconstruction distortion. However, balancing compression ratio and reconstruction quality is difficult because low-frequency and high-frequency components contribute differently…
Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…
In this paper, we propose a novel hierarchical sensing framework for wideband integrated sensing and communications with uniform planar arrays (UPAs). Leveraging the beam-squint effect inherent in wideband orthogonal frequency-division…
The advancement of UAV technology has enabled efficient, non-contact structural health monitoring. Combined with photogrammetry, UAVs can capture high-resolution scans and reconstruct detailed 3D models of infrastructure. However, a key…
In this work, we study integrated sensing and communication (ISAC) networks intending to effectively balance sensing and communication (S&C) performance at the network level. Through the simultaneous utilization of multi-point (CoMP)…
This paper proposes an integrated sensing, jamming, and communications (ISJC) framework for securing unmanned aerial vehicle (UAV)-enabled wireless networks. The proposed framework advocates the dual use of artificial noise transmitted by…
Orthogonal frequency division multiplexing with index modulation (OFDM-IM) is a novel multicarrier scheme, which uses the k out of n subcarriers as active subcarriers to transmit data. For detecting the subcarrier activation pattern (SAP)…