相关论文: Enabling Plug-and-Play and Crowdsourcing SLAM in W…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
The integration of sensing and communication (ISAC) is a cornerstone of 6G, enabling simultaneous environmental awareness and communication. This paper explores radio SLAM (simultaneous localization and mapping) as a key ISAC approach,…
Sensing is an integral part of 6G and beyond systems, providing exceptional environmental perception along with communication. Radio frequency (RF)-based sensing often relies on simplified geometric assumptions (e.g., point scatterers or…
Multi-agent cooperative SLAM often encounters challenges in similar indoor environments characterized by repetitive structures, such as corridors and rooms. These challenges can lead to significant inaccuracies in shared location…
Crowdsourcing has been widely used to efficiently obtain labeled datasets for supervised learning from large numbers of human resources at low cost. However, one of the technical challenges in obtaining high-quality results from…
Mobile crowdsensing engages a crowd of individuals to use their mobile devices to cooperatively collect data about social events and phenomena for special interest customers. It can reduce the cost on sensor deployment and improve data…
Cooperative localization (CL) is an important technology for innovative services such as location-aware communication networks, modern convenience, and public safety. We consider wireless networks with mobile agents that aim to localize…
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…
Location-aware networks will introduce innovative services and applications for modern convenience, applied ocean sciences, and public safety. In this paper, we establish a hybrid method for model-based and data-driven inference. We…
Mobile sensing is an emerging technology that utilizes agent-participatory data for decision making or state estimation, including multimedia applications. This article investigates the structure of mobile sensing schemes and introduces…
Studies on the social behaviors of bats show that they have the ability to eavesdrop on the signals emitted by conspecifics in their vicinity. They can fuse this ``passive" data with actively collected data from their own signals to get…
The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
Crowdsourcing refers to the arrangement in which contributions are solicited from a large group of unrelated people. Due to this nature, crowdsourcers (or task requesters) often face uncertainty about the workers' capabilities which, in…
In this paper, a simultaneous localization and mapping (SLAM) method that eliminates the influence of moving objects in dynamic environments is proposed. This method utilizes the correlation between map points to separate points that are…
Robustness and resilience of simultaneous localization and mapping (SLAM) are critical requirements for modern autonomous robotic systems. One of the essential steps to achieve robustness and resilience is the ability of SLAM to have an…
Millimeter-wave (mmWave) cloud radio access networks (CRANs) provide new opportunities for accurate cooperative localization, in which large bandwidths, large antenna arrays, and increased densities of base stations allow for their…
Simultaneous localization and mapping (SLAM) methods need to both solve the data association (DA) problem and the joint estimation of the sensor trajectory and the map, conditioned on a DA. In this paper, we propose a novel integrated…
Crowdsourcing with the intelligent agents carrying smart devices is becoming increasingly popular in recent years. It has opened up meeting an extensive list of real life applications such as measuring air pollution level, road traffic…
This paper addresses the challenge of achieving reliable and robust positioning of a mobile agent, such as a radio device carried by a person, in scenarios where direct line-of-sight (LOS) links are obstructed or unavailable. The human body…