相关论文: Wi-Fi Based Indoor Positioning System For Mobile R…
The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…
This paper provides a robust, scalable Bluetooth Low-Energy (BLE) based indoor localization solution using commodity hardware. While WiFi-based indoor localization has been widely studied, BLE has emerged a key technology for…
Indoor localization systems are most commonly based on Received Signal Strength Indicator (RSSI) measurements of either WiFi or Bluetooth-Low-Energy (BLE) beacons. In such systems, the two most common techniques are trilateration and…
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
Many recent works have explored using WiFi-based sensing to improve SLAM, robot manipulation, or exploration. Moreover, widespread availability makes WiFi the most advantageous RF signal to leverage. But WiFi sensors lack an accurate,…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
In the present era of sustainable innovation, the circular economy paradigm dictates the optimal use and exploitation of existing finite resources. At the same time, the transition to smart infrastructures requires considerable investment…
Localizing smartphones in indoor environments offers excellent opportunities for e-commerce. In this paper, we propose a localization technique for smartphones in indoor environments. This technique can calculate the coordinates of a…
Human motion in the vicinity of a wireless link causes variations in the link received signal strength (RSS). Device-free localization (DFL) systems, such as variance-based radio tomographic imaging (VRTI), use these RSS variations in a…
This paper presents a new information source for supporting robot localisation: material composition. The proposed method complements the existing visual, structural, and semantic cues utilized in the literature. However, it has a distinct…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally expensive algorithm that is difficult to run on…
Classification between different activities in an indoor environment using wireless signals is an emerging technology for various applications, including intrusion detection, patient care, and smart home. Researchers have shown different…
In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…
We present a new approach to the cooperative localisation problem by applying the theory of minimum energy filtering. We consider the problem of estimating the pose of a group of mobile robots in an environment where robots can perceive…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…