相关论文: Adaptive Beam Design for V2I Communications using …

In this paper, the problem of sequential beam construction and adaptive channel estimation based on reduced rank (RR) Kalman filtering for frequency-selective massive multiple-input multiple-output (MIMO) systems employing single-carrier…

This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…

In this study, we explore an innovative approach to enhance cooperative driving in vehicle platooning systems through the use of vehicle-to-everything (V2X) communication technologies. As Connected and Autonomous Vehicles (CAVs) integrate…

This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…

Vehicle state estimation presents a fundamental challenge for autonomous driving systems, requiring both physical interpretability and the ability to capture complex nonlinear behaviors across diverse operating conditions. Traditional…

Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…

A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…

In this paper, beam training and beam tracking are investigated for extremely large-scale multiple-input-multiple-output communication systems with partially-connected hybrid combining structures. Firstly, we propose a two-stage…

This paper studies the optimal state estimation for a dynamic system, whose transfer function can be nonlinear and the input noise can be of arbitrary distribution. Our algorithm differs from the conventional extended Kalman filter (EKF)…

Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…

Millimeter wave (mmWave) has been claimed to be the only viable solution for high-bandwidth vehicular communications. However, frequent channel estimation and beamforming required to provide a satisfactory quality of service limits mmWave…

Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of…

The future wireless communications are expected to provide new use scenarios with emerging techniques. This paper focuses on vehicle to everything (V2X) network, where vehicles should cooperatively implement information obtaining, data…

Mobile robotic systems are becoming increasingly popular. These systems are used in various indoor applications, raging from warehousing and manufacturing to test benches for assessment of advanced control strategies, such as artificial…

Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…

Beam management, including initial access (IA) and beam tracking, is essential to the millimeter-wave Unmanned Aerial Vehicle (UAV) network. However, conventional communication-only and feedback-based schemes suffer a high delay and low…

Efficient and dynamic path planning has become an important topic for urban areas with larger density of connected vehicles (CV) which results in reduction of travel time and directly contributes to environmental sustainability through…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

Millimeter wave (mmWave) communication, utilizing beamforming techniques to address the inherent path loss limitation, is considered as one of the key technologies to support ever increasing high throughput and low latency demands of…