相关论文: Data-Driven State Estimation for Light-Emitting Di…
Our goal is to send legged robots into challenging, unstructured terrains that wheeled systems cannot traverse. Moreover, precise estimation of the robot's position and orientation in rough terrain is especially difficult. To address this…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
The problem of communicating sensor measurements over shared networks is prevalent in many modern large-scale distributed systems such as cyber-physical systems, wireless sensor networks, and the internet of things. Due to bandwidth…
Real-time water-level monitoring across many locations is vital for flood response, infrastructure management, and environmental forecasting. Yet many sensing methods rely on fixed instruments - acoustic, radar, camera, or pressure probes -…
The artificial lateral line (ALL), comprising distributed flow sensors, has been successful in sensing motion states of bioinspired underwater robots like robotic fish. However, its application to robots driven by rotating propellers…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
The design of a wireless communication system that can support multiple users at high data rates inside an aircraft is a key requirement of aircraft manufacturers. This paper examines the design of an on-board visible light communication…
Unpredictable sensor-to-estimator delays fundamentally distort what matters for wireless remote state estimation: not just freshness, but how delay interacts with sensor informativeness and energy efficiency. In this paper, we present a…
Compared with line-of-sight (LOS) communication, nonline-of-sight (NLOS) underwater wireless optical communication (UWOC) systems have garnered extensive attention because of their heightened suitability for the intricate and dynamic…
Underwater environments pose significant challenges due to the selective absorption and scattering of light by water, which affects image clarity, contrast, and color fidelity. To overcome these, we introduce OceanLens, a method that models…
The advent of the digital age has driven the development of coherent optical modems--devices that modulate the amplitude and phase of light in multiple polarization states. These modems transmit data through fiber optic cables that are…
The cross-domain oceanic connectivity ranging from underwater to the sky has become increasingly indispensable for a plethora of data-consuming maritime applications, such as maritime meteorological monitoring and offshore exploration.…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Visible light communication (VLC) is emerging as a key technology for future wireless communication systems due to its unique physical-layer advantages over traditional radio-frequency (RF)-based systems. However, its integration with…
Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…
Marine Internet of Things (IoT) systems have grown substantially with the development of non-terrestrial networks (NTN) via aerial and space vehicles in the upcoming sixth-generation (6G), thereby assisting environment protection, military…
Machine-learning-based prediction of future wireless link quality is an emerging technique that can potentially improve the reliability of wireless communications, especially at higher frequencies (e.g., millimeter-wave and terahertz…
This work develops a learning-based contact estimator for legged robots that bypasses the need for physical sensors and takes multi-modal proprioceptive sensory data as input. Unlike vision-based state estimators, proprioceptive state…
Organic light-emitting diodes (OLEDs) are the leading self-emitting pixel technology in current and future small and large area displays. Once integrated with a certain layer architecture into the backplane layout, their emission colour and…
We consider the problem of forecasting complex, nonlinear space-time processes when observations provide only partial information of on the system's state. We propose a natural data-driven framework, where the system's dynamics are modelled…