相关论文: Evaluation of an open-source implementation of the…

We consider the sound ranging, or source localization, problem - find the source-point from the moments when the wave-sphere of linearly, with time, increasing radius reaches the sensor-points - in the proper metric spaces (any closed ball…

Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…

This paper presents SHTNet, a lightweight spherical harmonic transform (SHT) based framework, which is designed to address cross-array generalization challenges in multi-channel automatic speech recognition (ASR) through three key…

Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…

In this paper, we propose a hybrid framework for Satisfiability Modulo the Theory of Nonlinear Real Arithmetic (SMT-NRA for short). First, we introduce a two-dimensional cell-jump move, called \emph{$2d$-cell-jump}, generalizing the key…

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…

A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…

The report focuses on three areas in particular: the first is the Received Signal Strength indicator technique, Direction of Arrival technique, and the integration of two algorithms, RSS and DOA, in order to build a hybrid, more robust…

This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…

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…

This paper addresses the problem of binaural localization of a single speech source in noisy and reverberant environments. For a given binaural microphone setup, the binaural response corresponding to the direct-path propagation of a single…

Humans can easily perceive the direction of sound sources in a visual scene, termed sound source localization. Recent studies on learning-based sound source localization have mainly explored the problem from a localization perspective.…

Dual-path processing along the temporal and spectral dimensions has shown to be effective in various speech processing applications. While the sound source localization (SSL) models utilizing dual-path processing such as the FN-SSL and…

Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…

Non-line-of-sight localization in signal-deprived environments is a challenging yet pertinent problem. Acoustic methods in such predominantly indoor scenarios encounter difficulty due to the reverberant nature. In this study, we aim to…

Supervised fine-tuning (SFT) plays a crucial role in adapting large language models (LLMs) to specific domains or tasks. However, as demonstrated by empirical experiments, the collected data inevitably contains noise in practical…

Deep learning-based sound event localization and classification is an emerging research area within wireless acoustic sensor networks. However, current methods for sound event localization and classification typically rely on a single…

Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…

Path planning in dynamic environments is a fundamental challenge in intelligent transportation and robotics, where obstacles and conditions change over time, introducing uncertainty and requiring continuous adaptation. While existing…

We consider the problem of joint three-dimensional (3D) localization and material classification of unresolved space debris using a multispectral rotating point spread function (RPSF). The use of RPSF allows one to estimate the 3D locations…