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This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
Recent test-time adaptation methods heavily rely on nuanced adjustments of batch normalization (BN) parameters. However, one critical assumption often goes overlooked: that of independently and identically distributed (i.i.d.) test batches…
This paper introduces a task- and model-aware framework for measuring similarity between wireless datasets, enabling applications such as dataset selection/augmentation, simulation-to-real (sim2real) comparison, task-specific synthetic data…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due…
This paper studies the use of directional antennas for received signal strength difference (RSSD) based localization using ultra-wideband and demonstrates the achievable accuracy with this localization method applied to UWB. As introduced…
State-of-the-art optical wireless positioning (OWP) commonly reaches centimeter-level accuracy by depending on dense multi-light-emitting diodes (LED) infrastructures, photodiode (PD) arrays, or image-sensor receivers, incurring hardware…
Accurate device free localization (DFL) based on received signal strength (RSS) measurements requires placement of radio transceivers on all sides of the target area. Accuracy degrades dramatically if sensors do not surround the area.…
The emergence of large-scale wireless networks with partially-observable and time-varying dynamics has imposed new challenges on the design of optimal control policies. This paper studies efficient scheduling algorithms for wireless…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they carry a specific devices with them. To achieve this "device…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
With its promise of increasing softwarization, improving disaggregability, and creating an open-source based ecosystem in the area of Radio Access Networks, the idea of Open RAN has generated rising interest in the community. Even as the…
This study investigates unmanned aerial vehicle (UAV) trajectory planning strategies for localizing a target mobile device in emergency situations. The global navigation satellite system (GNSS)-based accurate position information of a…
Wearable devices enable theoretically continuous, longitudinal monitoring of physiological measurements like step count, energy expenditure, and heart rate. Although the classification of abnormal cardiac rhythms such as atrial fibrillation…
Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…