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

Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…

With growing interest in sustainable logistics, electric vehicle (EV)-based deliveries offer a promising alternative for urban distribution. However, EVs face challenges due to their limited battery capacity, requiring careful planning for…

We propose a novel message-passing solution to the sixth-dimensional (6D) moving rigid body localization (RBL) problem, in which the three-dimensional (3D) translation vector and rotation angles, as well as their corresponding translational…

Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…

This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…

Electric autonomous vehicles (EAVs) are getting attention in future autonomous mobility-on-demand (AMoD) systems due to their economic and societal benefits. However, EAVs' unique charging patterns (long charging time, high charging…

This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…

Localizing targets outside the anchors' convex hull is an understudied but prevalent scenario in vehicle-centric, UAV-based, and self-localization applications. Considering such scenarios, this paper studies the optimal anchor placement…

The problem of recovering the configuration of points from their partial pairwise distances, referred to as the Euclidean Distance Matrix Completion (EDMC) problem, arises in a broad range of applications, including sensor network…

This paper proposes an Acceleration and Load-Dependent Electric Vehicle Routing Problem (ALD-EVRP), to optimize the energy consumption (EC) while capturing the effects of changing traffic conditions between peak and off-peak periods. We…

Deploying multiple unmanned aerial vehicles (UAVs) to locate a signal-emitting source covers a wide range of military and civilian applications like rescue and target tracking. It is well known that the UAVs-source (sensors-target)…

We introduce EC-SLAM, a real-time dense RGB-D simultaneous localization and mapping (SLAM) system leveraging Neural Radiance Fields (NeRF). While recent NeRF-based SLAM systems have shown promising results, they have yet to fully exploit…

We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…

The tracking method based on the extreme learning machine (ELM) is efficient and effective. ELM randomly generates input weights and biases in the hidden layer, and then calculates and computes the output weights by reducing the iterative…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

This paper addresses the Sensor Network Localization (SNL) problem using received signal strength. The SNL is formulated as an Euclidean Distance Matrix Completion (EDMC) problem under the unit ball sample model. Using the Burer-Monteiro…

Existing works have explored the anchor deployment for autonomous underwater vehicles (AUVs) localization under the assumption that the sound propagates straightly underwater at a constant speed. Considering that the underwater acoustic…

In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…

This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…

Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem…