Related papers: RadMaps: A Geospatial Framework for Simultaneously…
Current directions in network routing research have not kept pace with the latest developments in network architectures, such as peer-to-peer networks, sensor networks, ad-hoc wireless networks, and overlay networks. A common characteristic…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…
Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…
The possibility of jointly optimizing location sensing and communication resources, facilitated by the existence of communication and sensing spectrum sharing, is what promotes the system performance to a higher level. However, the rapid…
Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or…
Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
This paper studies real-time trajectory planning and radio resource allocation for a single uncrewed aerial vehicle (UAV) serving multiple mobile ground users in an urban environment. The downlink system considers heterogeneous user…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…
Many high-dimensional optimisation problems exhibit rich geometric structures in their set of minimisers, often forming smooth manifolds due to over-parametrisation or symmetries. When this structure is known, at least locally, it can be…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
Joint radar and communication (RadCom) systems have been proposed to achieve the spectrum sharing between radar and communication in recent years. However, the joint RadCom systems cause the clutter modulation and the performance…
This letter presents an energy-efficient multi-robot coverage path planning (MRCPP) framework for large, nonconvex Regions of Interest (ROI) containing obstacles and no-fly zones (NFZ). Existing minimum-energy coverage planning algorithms…
Data aggregation is a promising approach to enable massive machine-type communication (mMTC). This paper focuses on the aggregation phase where a massive number of machine-type devices (MTDs) transmit to aggregators. By using non-orthogonal…
The paper presents Maximal Covariance Backward Reachable Trees (MAXCOVAR BRT), which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty and constraints on the control input with explicit coverage…
Radiotherapy (RT) planning is complex, subjective, and time-intensive. Advances with artificial intelligence (AI) promise to improve its precision and efficiency, but progress is often limited by the scarcity of large, standardized…
Real-time, meter-resolution gamma-ray mapping is relevant in the detection and mapping of radiological materials, and for applications ranging from nuclear decommissioning, waste management, and environmental remediation to homeland…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
Delay and Disruption Tolerant Networks (DTNs) may lack continuous network connectivity. Routing in DTNs is thus a challenge since it must handle network partitioning, long delays, and dynamic topology. Meanwhile, routing protocols of the…