相关论文: Toolbox Release: A WiFi-Based Relative Bearing Sen…

Localization based on received signal strength indication (RSSI) is a low cost and low complexity technology, and it is widely applied in distance-based localization of wireless sensor networks (WSNs). Error of existed localization…

Real-time applications require latencies on the order of a millisecond with very high reliabilities, paralleling the requirements for high-performance industrial control. Current wireless technologies like WiFi, Bluetooth, LTE, etc. are…

We formulate the problem of robots ferrying messages between statically-placed source and sink pairs that they can communicate with wirelessly. We first analyze the capacity region for this problem under both ideal (arbitrarily high…

Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…

This paper studies the indoor localisation of WiFi devices based on a commodity chipset and standard channel sounding. First, we present a novel shallow neural network (SNN) in which features are extracted from the channel state information…

This study explores the use of non-line-of-sight (NLOS) components in millimeter-wave (mmWave) communication systems for joint localization and environment sensing. The radar cross section (RCS) of a reconfigurable intelligent surface (RIS)…

Robotic platforms are highly programmable, scalable and versatile to complete several tasks including Inspection, Maintenance and Repair (IMR). Mobile robotics offer reduced restrictions in operating environments, resulting in greater…

Wi-Fi sensing can classify human activities because each activity causes unique changes to the channel state information (CSI). Existing WiFi sensing suffers from limited scalability as the system needs to be retrained whenever new…

Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…

This paper proposes a received signal strength (RSS) based localization framework for energy harvesting underwater optical wireless sensor networks (EH-UOWSNs), where the optical noise sources and channel impairments of seawater pose…

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…

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…

With the rapid development of wireless communication technology, wireless access points (AP) and internet of things (IoT) devices have been widely deployed in our surroundings. Various types of wireless signals (e.g., Wi-Fi, LoRa, LTE) are…

In this paper some new experimental results about the statistical characterization of the non-line-of-sight (NLOS) bias affecting time-of-arrival (TOA) estimation in ultrawideband (UWB) wireless localization systems are illustrated. Then,…

We present Autonomous Rssi based RElative poSitioning and Tracking (ARREST), a new robotic sensing system for tracking and following a moving, RF-emitting object, which we refer to as the Leader, solely based on signal strength information.…

The use of fingerprinting localization techniques in outdoor IoT settings has started to gain popularity over the recent years. Communication signals of Low Power Wide Area Networks (LPWAN), such as LoRaWAN, are used to estimate the…

This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…

Efficient and precise location of emission sources in an urbanized environment is very important in electronic warfare. Therefore, unmanned aerial vehicles (UAVs) are increasingly used for such tasks. In this paper, we present the…

In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…

Positioning has recently received considerable attention as a key enabler in emerging applications such as extended reality, unmanned aerial vehicles and smart environments. These applications require both data communication and…