相关论文: Collaborative High Accuracy Localization in Mobile…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
The directionality of millimeter-wave (mmWave) communications introduces a significant challenge in serving fast-rotating/moving terminals, e.g., mobile AR/VR, high-speed vehicles, trains, UAVs.This challenge is exacerbated in mmWave…
Next-generation cellular networks will play a key role in the evolution of different vertical industries. Low latency will be a major requirement in many related uses cases. This requirement is specially challenging in scenarios with high…
This paper presents a theoretical framework to derive information-theoretic bounds on the estimation accuracy of target position and velocity in orthogonal frequency division multiplexing (OFDM)-based integrated sensing and communication…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
As a green MIMO structure, the partially-connected hybrid analog and digital (PC-HAD) structure has been widely used in the far-field (FF) scenario for it can significantly reduce the hardware cost and complexity of large-scale or extremely…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Radio-based simultaneous localization and mapping (SLAM) has the potential to provide precise user equipment (UE) localization and environmental sensing capabilities by exploiting radio signals. Most existing approaches leverage…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
This paper investigates the potential of near-field localization using widely-spaced multi-subarrays (WSMSs) and analyzing the corresponding angle and range Cram\'er-Rao bounds (CRBs). By employing the Riemann sum, closed-form CRB…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Millimeter-wave (mmWave) cloud radio access networks (CRANs) provide new opportunities for accurate cooperative localization, in which large bandwidths, large antenna arrays, and increased densities of base stations allow for their…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Robots are often required to localize in environments with unknown object classes and semantic ambiguity. However, when performing global localization using semantic objects, high semantic ambiguity intensifies object misclassification and…
Accurate channel model and channel estimation are essential to empower extremely large-scale MIMO (XL-MIMO) in 6G networks with ultra-high spectral efficiency. With the sharp increase in the antenna array aperture of the XL-MIMO scenario,…
The performance bounds of near-field sensing are studied for circular arrays, focusing on the impact of bandwidth and array size. The closed-form Cramer-Rao bound (CRBs) for angle and distance estimation are derived, revealing the scaling…
Location awareness is a key factor for a wealth of wireless indoor applications. Its provision requires the careful fusion of diverse information sources. For agents that use radio signals for localization, this information may either come…
In urban environments, where line-of-sight signals from GNSS satellites are frequently blocked by high-rise objects, GNSS receivers are subject to large errors in measuring satellite ranges. Heuristic methods are commonly used to estimate…
The recent trend for extremely massive antenna arrays and high frequencies facilitates localization and sensing, offering increased angular and range resolution. In this letter, we focus on the emerging technology of Dynamic Metasurface…