相关论文: Controlled Tracking in Urban Terrain: Closing the …

In this paper, we propose a multiple input multiple output (MIMO) Full-Duplex Integrated Sensing and Communication System consisting of multiple targets, a single downlink, and a single uplink user. We employed signal-to-interference plus…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

In this paper, we develop a framework for a novel perceptive mobile/cellular network that integrates radar sensing function into the mobile communication network. We propose a unified system platform that enables downlink and uplink…

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…

We consider the problem of active and sequential beam tracking at mmWave frequencies and above. We focus on the dynamic scenario of a UAV to UAV communications where we formulate the problem to be equivalent to tracking an optimal…

Compressed sensing (CS) schemes are proposed for monostatic as well as synthetic aperture radar (SAR) imaging with chirped signals and Ultra-Narrowband (UNB) continuous waveforms. In particular, a simple, perturbation method is developed to…

We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…

Recently proposed multiple input multiple output radars based on matrix completion (MIMO-MC) employ sparse sampling to reduce the amount of data that need to be forwarded to the radar fusion center, and as such enable savings in…

Accurate motion state estimation of Vulnerable Road Users (VRUs), is a critical requirement for autonomous vehicles that navigate in urban environments. Due to their computational efficiency, many traditional autonomy systems perform…

In this paper, we propose a bistatic sensing-assisted beam tracking method for simultaneous communication and tracking of user vehicles navigating arbitrary-shaped road trajectories. Prior work on simultaneous communication and tracking…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Multi-Object Tracking in thermal images is essential for surveillance systems, particularly in challenging environments where RGB cameras struggle due to low visibility or poor lighting conditions. Thermal sensors enhance recognition tasks…

Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

The focus of this study is on the spectrum sharing between multiple-input multiple-output (MIMO) communications and co-located MIMO radar systems in multi-path environments. The major challenge is to suppress the mutual interference between…

Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this…

To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…

This paper proposes a hierarchical adaptive sampling scheme for passivity characterization of large-scale linear lumped macromodels. Here, large-scale is intended both in terms of dynamic order and especially number of input/output ports.…

Radar sensors are gradually becoming a wide-spread equipment for road vehicles, playing a crucial role in autonomous driving and road safety. The broad adoption of radar sensors increases the chance of interference among sensors from…

This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework is…