相关论文: Collision Prediction from UWB Range Measurements

Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…

Accurate and robust positioning in multipath environments can enable many applications, such as search-and-rescue and asset tracking. For this problem, ultra-wideband (UWB) technology can provide the most accurate range estimates, which are…

In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…

Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…

Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…

Short Range wireless devices are becoming more and more popular for ubiquitous sensor and actuator connectivity in industrial communication scenarios. Apart from communication-only scenarios, there are also mission-critical use cases where…

Risk assessment is a crucial component of collision warning and avoidance systems in intelligent vehicles. To accurately detect potential vehicle collisions, reachability-based formal approaches have been developed to ensure driving safety,…

Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight…

We investigate methods to provide safety assurances for autonomous agents that incorporate predictions of other, uncontrolled agents' behavior into their own trajectory planning. Given a learning-based forecasting model that predicts…

Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…

Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…

We consider the problem of obtaining relative location information between two wireless nodes from the differences in their ultra-wideband (UWB) channels to observer nodes. Our approach focuses on the delays of multipath components (MPCs)…

While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In this paper, we propose a learning-based framework named ULOC…

Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…

Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…

In multi-robot systems, relative localization between platforms plays a crucial role in many tasks, such as leader following, target tracking, or cooperative maneuvering. State of the Art (SotA) approaches either rely on…

There is a gap in risk assessment of trajectories between the trajectory information coming from a traffic motion prediction module and what is actually needed. Closing this gap necessitates advancements in prediction beyond current…