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Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…
In this paper, we investigate using Ultra-Wideband (UWB) technology in vehicles for localization as well as other possible infrastructure-free applications. To that end, we first introduce the on-vehicle UWB anchor layout, then conduct a…
Many real-world experimental design problems (a) evaluate multiple experimental conditions in parallel and (b) replicate each condition multiple times due to large and heteroscedastic observation noise. Given a fixed total budget, this…
Objective: Ultra-wideband radar technology offers a promising solution for unobtrusive and cost-effective in-home sleep monitoring. However, the limited availability of radar sleep data poses challenges in building robust models that…
We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…
A fully-asynchronous network with one target sensor and a few anchors (nodes with known locations) is considered. Localization and synchronization are traditionally treated as two separate problems. In this paper, localization and…
During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an…
Long-term autonomy is one of the most demanded capabilities looked into a robot. The possibility to perform the same task over and over on a long temporal horizon, offering a high standard of reproducibility and robustness, is appealing.…
Determining assets position with high accuracy and scalability is one of the most investigated technology on the market. The accuracy provided by satellites-based positioning systems (i.e., GLONASS or Galileo) is not always sufficient when…
Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…
To properly validate wireless networking solutions we depend on experimentation. Simulation very often produces less accurate results due to the use of models that are simplifications of the real phenomena they try to model. Networking…
The reliability of supervised machine learning systems depends on the accuracy and availability of ground truth labels. However, the process of human annotation, being prone to error, introduces the potential for noisy labels, which can…
We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
Although there are many automated software testing suites, they usually focus on unit, system, and interface testing. However, especially software updates such as new security features have the potential to diminish user experience. In this…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
In the article, we describe a trajectory planning problem for a 6-DOF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of…
Recent advancements in Internet of Things (IoTs) have brought about a surge of interest in indoor positioning for the purpose of providing reliable, accurate, and energy-efficient indoor navigation/localization systems. Ultra Wide Band…
Wi-Fi-based positioning promises a scalable and privacy-preserving solution for location-based services in indoor environments such as malls, airports, and campuses. RSS-based methods are widely deployable as RSS data is available on all…
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…