相关论文: Efficient Rigid Body Localization based on Euclide…

Electric vehicles (EVs) play critical roles in autonomous mobility-on-demand (AMoD) systems, but their unique charging patterns increase the model uncertainties in AMoD systems (e.g. state transition probability). Since there usually exists…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes time-varying control barrier functions (time varying CBFs)…

We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…

In this paper, a multi-modal vehicle positioning framework that jointly localizes vehicles with channel state information (CSI) and images is designed. In particular, we consider an outdoor scenario where each vehicle can communicate with…

Anderson localization on random regular graphs (RRG) serves as a toy-model of many-body localization (MBL). We explore the transition for ergodicity to localization on RRG with large connectivity $m$. In the analytical part, we focus on the…

In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…

We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…

The integration of Electric Buses (EBs) with renewable energy sources such as photovoltaic (PV) panels is a promising approach to promote sustainable and low-carbon public transportation. However, optimizing EB charging schedules to…

The problem of optimal power allocation among light emitting diode (LED) transmitters in a visible light positioning (VLP) system is considered for the purpose of improving localization performance of visible light communication (VLC)…

Deep reinforcement learning (DRL) has been used to learn effective heuristics for solving complex combinatorial optimisation problem via policy networks and have demonstrated promising performance. Existing works have focused on solving…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a…

Relative pose estimation is the foundational requirement for multi-robot system, while it is a challenging research topic in infrastructure-free scenes. In this study, we analyze the relative 6-DOF pose estimation error of multi-robot…

The exponential growth of electric vehicles (EVs) presents novel challenges in preserving battery health and in addressing the persistent problem of vehicle range anxiety. To address these concerns, wireless charging, particularly, Mobile…

Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…

Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…

In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…

The deployment of roadside LiDAR sensors plays a crucial role in the development of Cooperative Intelligent Transport Systems (C-ITS). However, the high cost of LiDAR sensors necessitates efficient placement strategies to maximize detection…