相关论文: Pairwise Distance and Position Estimators From Dif…
We consider the problem of localization and distance estimation between a pair of wireless nodes in a multipath propagation environment, but not the usual way of processing a channel measurement between them. We propose a novel paradigm…
We study the estimation of distance d between two wireless nodes by means of their wideband channels to a third node, called observer. The motivating principle is that the channel impulse responses are similar for small d and drift apart…
The high time resolution of ultra-wideband (UWB) signals facilitates very precise position estimation in many scenarios, which makes a variety applications possible. This paper reviews the problem of position estimation in UWB systems,…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
Accurately estimating the position of a wireless emitter in a multipath environment based on samples received at various base stations (in known locations) has been extensively explored in the literature. Existing approaches often assume…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
This work estimates the position and the transmit power of multiple co-channel wireless transmitters under model uncertainties. The model uncertainties include the number of the targets and the parameters of the path-loss model which enable…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
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…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
We demonstrated a simple technique for monitoring range variation with millimeter-precision between two remote sites using off-the-shelf wireless communication modules. The need for the flexible positioning of wireless devices is…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
Spatial wireless channel prediction is important for future wireless networks, and in particular for proactive resource allocation at different layers of the protocol stack. Various sources of uncertainty must be accounted for during…