相关论文: On-line Optimal Ranging Sensor Deployment for Robo…

Nowadays, accurate localization plays an essential role in many fields, like target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex…

For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…

A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…

In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…

Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…

Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…

We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…

This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation…

Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…

This paper investigates moving networks of Unmanned Aerial Vehicles (UAVs), such as drones, as one of the innovative opportunities brought by the 5G. With a main purpose to extend connectivity and guarantee data rates, the drones require…

The location determination in obstructed area can be very challenging especially if Global Positioning System are blocked. Users will find it difficult to navigate directly on-site in such condition, especially indoor car park lot or…

In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…

We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…

Smart and unobtrusive mobile sensor nodes that accurately track their own position have the potential to augment data collection with location-based functions. To attain this vision of unobtrusiveness, the sensor nodes must have a compact…

Mobile robot autonomy has made significant advances in recent years, with navigation algorithms well developed and used commercially in certain well-defined environments, such as warehouses. The common link in usage scenarios is that the…

In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly strongly depends on the network geometry. This motivates the problem of planning robot…

This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…