相关论文: On-line Optimal Ranging Sensor Deployment for Robo…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Ultra-wideband (UWB) is a state-of-the-art technology designed for applications requiring centimeter-level localization. Its widespread adoption by smartphone manufacturer naturally raises security and privacy concerns. Successfully…
This paper studies the optimal unmanned aerial vehicle (UAV) placement problem for wireless networking. The UAV operates as a flying wireless relay to provide coverage extension for a base station (BS) and deliver capacity boost to a user…
In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D…
In this paper, a software-based simulator for the deployment of base station-equipped unmanned aerial vehicles (UAVs) in a cellular network is proposed. To this end, the Google Earth Engine platform and its included image processing…
In recent years, unmanned aerial vehicles (UAVs) have been considered for telecommunications purposes as relays, caches, or IoT data collectors. In addition to being easy to deploy, their maneuverability allows them to adjust their location…
Ultra-wideband (UWB) localization delivers centimeter-scale accuracy but is vulnerable to jamming attacks, creating security risks for asset tracking and intrusion detection in smart buildings. Although machine learning (ML) and deep…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…
Mobile sensor networks are important for several strategic applications devoted to monitoring critical areas. In such hostile scenarios, sensors cannot be deployed manually and are either sent from a safe location or dropped from an…
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due…
Motivated by lunar exploration, we consider deploying a network of mobile robots to explore an unknown environment while acting as a cooperative positioning system. Robots measure and communicate position-related data in order to perform…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly…
Multi-robot mapping with neural implicit representations enables the compact reconstruction of complex environments. However, it demands robustness against communication challenges like packet loss and limited bandwidth. While prior works…
Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity services, such as UWB tagless gate (UTG), thanks to centimeter-level localization accuracy based on two different ranging methods such as downlink…
Seafloor acoustic anchors are an important component of AUV navigation, providing absolute updates that correct inertial dead-reckoning. Unlike terrestrial positioning systems, the deployment of underwater anchor nodes is usually sparse due…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…