Related papers: Bluetooth Phased-array Aided Inertial Navigation U…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
This paper explores how a flying drone can autonomously navigate while constructing a narrowband radio map for signal localization. As flying drones become more ubiquitous, their wireless signals will necessitate new wireless technologies…
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear…
Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…
The paper presents an approach in which inertial signals measured with a wrist-worn sensor (e.g., a smartwatch) are translated into those that would be recorded using a shoe-mounted sensor, enabling the use of state-of-the-art gait analysis…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…
A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information…
Monitoring the optical phase change in a fiber enables a wide range of applications where fast phase variations are induced by acoustic signals or vibrations in general. However, the quality of the estimated fiber response strongly depends…
A new method for joint ranging and Phase Offset (PO) estimation of multiple drones/aircrafts is proposed in this paper. The proposed method employs the superimposed uncoordinated Automatic Dependent Surveillance Broadcast (ADS-B) packets…
Communication systems at millimeter-wave (mmW) and sub-terahertz frequencies are of increasing interest for future high-data rate networks. One critical challenge faced by phased array systems at these high frequencies is the efficiency of…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
The Internet of things (IoT) has become an integral part of our life at both work and home. However, these IoT devices are prone to vulnerability exploits due to their low cost, low resources, the diversity of vendors, and proprietary…
Multi-array systems are widely used in sonar and radar applications. They can improve communication speeds, target discrimination, and imaging. In the case of a multibeam sonar system that can operate two receiving arrays, we derive new…
Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…
Delay-tolerant networking (DTN) offers a novel architecture that can be used to enhance store-carry-forward routing in satellite networks. Since these networks can take advantage of scheduled contact plans, distributed algorithms like the…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…
Bias estimation or sensor registration is an essential step in ensuring the accuracy of global tracks in multisensor-multitarget tracking. Most previously proposed algorithms for bias estimation rely on local measurements in centralized…
The next-generation internet of things (IoT) systems have an increasingly demand on intelligent localization which can scale with big data without human perception. Thus, traditional localization solutions without accuracy metric will…
Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under canopy robots remains an open challenge because Global…