相关论文: A wireless signal-based sensing framework for robo…
The future large adaptive telescopes will trigger new constraints for the calibration of Adaptive Optics (AO) systems equipped with pre-focal Deformable Mirrors (DM). The image of the DM actuators grid as seen by the Wave-Front Sensor (WFS)…
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…
Traditional Wireless Sensor Networks (WSNs) typically rely on pre-analysis of the target area, network size, and sensor coverage to determine initial deployment. This often results in significant overlap to ensure continued network…
Integrated sensing and communication (ISAC) in wireless systems has emerged as a promising paradigm, offering the potential for improved performance, efficient resource utilization, and mutually beneficial interactions between radar sensing…
Intelligent reflecting surface (IRS) is expected to play a pivotal role in future wireless sensing networks owing to its potential for high-resolution and high-accuracy sensing. In this work, we investigate a multi-target…
In this paper, we propose a framework design for wireless sensor networks based on multiple unmanned aerial vehicles (UAVs). Specifically, we aim to minimize deployment and operational costs, with respect to budget and power constraints. To…
In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
A robot's instantaneous sensory observations do not always reveal task-relevant state information. Under such partial observability, optimal behavior typically involves explicitly acting to gain the missing information. Today's standard…
Recent advances in foundation models have shown promising results in developing generalist robotics that can perform diverse tasks in open-ended scenarios given multimodal inputs. However, current work has been mainly focused on indoor,…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
Wirelessly-connected robotic systems empower robots with real-time intelligence by leveraging remote computing resources for decision-making. However, the data exchange between robots and edge servers often overwhelms communication links,…
Conventional radar feature extraction faces limitations due to low spatial resolution, noise, multipath reflection, the presence of ghost targets, and motion blur. Such limitations can be exacerbated by nonlinear object motion, particularly…
We investigate localization of a source based on angle of arrival (AoA) measurements made at a geographically dispersed network of cooperating receivers. The goal is to efficiently compute accurate estimates despite outliers in the AoA…
Efficient spectrum use in wireless sensor networks through spatial reuse requires effective models of packet reception at the physical layer in the presence of interference. Despite recent progress in analytic and simulations research into…
Direction of arrival (DOA) estimation is a fundamental problem in array signal processing with applications spanning radar, sonar, wireless communications, and acoustic signal processing. This tutorial survey provides a comprehensive…
Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…
Accurate and low-power indoor localization is becoming more and more of a necessity to empower novel consumer and industrial applications. In this field, the most promising technology is based on UWB modulation; however, current UWB…