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Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

The integration of Reconfigurable Intelligent Surfaces (RIS) in 6G wireless networks offers unprecedented control over communication environments. However, identifying optimal configurations within practical constraints remains a…

Ultra-wideband (UWB)-based techniques, while becoming mainstream approaches for high-accurate positioning, tend to be challenged by ranging bias in harsh environments. The emerging learning-based methods for error mitigation have shown…

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,…

This paper reports the findings of an experimental study on the problem of line-of-sight (LOS)/non-line-of-sight (NLOS) classification in an indoor environment. Specifically, we deploy a pair of NI 2901 USRP software-defined radios (SDR) in…

Ultra-wideband (UWB) through-wall radar has a wide range of applications in non-contact human information detection and monitoring. With the integration of machine learning technology, its potential prospects include the physiological…

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…

As commercial interest in proximity services increased, the development of various wireless localization techniques was promoted. In line with this trend, Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity…

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…

In this paper, we investigate ultra-wideband (UWB) localization and tracking in cluttered environments. Instead of mitigating the multipath, we exploit the specular reflections to enhance the localizability and improve the positioning…

Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…

Wireless positioning in Non-Line-of-Sight (NLoS) scenarios presents significant challenges due to multipath effects that lead to biased measurements and reduced positioning accuracy. This paper revisits electromagnetic field theory related…

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…

Reliable positioning services are extremely important for users and devices in mountainous environments as it enables a variety of location-based applications. However, in such environments, the service reliability of conventional wireless…

Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…

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,…

UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…

This paper investigates unmanned aerial vehicle (UAV) localization using time difference of arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. A 3D TDOA Cram\'er-Rao lower bound (CRLB) model…

This paper introduces an identification method that determines whether a millimeter-wave wireless transmission using directional antennas is being established over a line-of-sight (LOS) or a non-line-of-sight (NLOS) cluster for indoor…

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…