相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets,…
The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…
Accurate localization is crucial for various applications, including autonomous vehicles and next-generation wireless networks. However, the reliability and precision of Global Navigation Satellite Systems (GNSS), such as the Global…
We propose a novel approach to the 'reality gap' problem, i.e., modifying a robot simulation so that its performance becomes more similar to observed real world phenomena. This problem arises whether the simulation is being used by human…
Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…
Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) has drawn increasing interests in autonomous driving. However, LiDAR-SLAM suffers from accumulating errors which can be significantly mitigated by Global…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…
Unmanned aerial vehicles are rapidly gaining popularity in a variety of environmental monitoring tasks. A key requirement for their autonomous operation is the ability to perform efficient environmental mapping online, given limited onboard…
Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding…
Large bandwidth at mm-wave is crucial for 5G and beyond but the high path loss (PL) requires highly accurate PL prediction for network planning and optimization. Statistical models with slope-intercept fit fall short in capturing large…
Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…
Modern navigation systems rely heavily on Global Navigation Satellite Systems (GNSS), whose weak spaceborne signals are vulnerable to jamming, spoofing, and line-of-sight blockage. As an alternative, the Earth's magnetic field entails…
Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…
In this paper, we validate the performance of the a sensor fusion-based Global Navigation Satellite System (GNSS) spoofing attack detection framework for Autonomous Vehicles (AVs). To collect data, a vehicle equipped with a GNSS receiver,…
Accurate tracking in urban environments necessitates target birth, survival, and detection models that quantify the impact of terrain and building geometry on the sequential estimation procedure. Current efforts assume that target…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
It is widely known that spoofing is a major threat that adversely impacts the reliability and accuracy of GNSS applications. In this study, a crowdsourcing double differential pseudorange spatial (D2SP) random set is constructed and the…
Underwater gliders are widely utilized for ocean sampling, surveillance, and other various oceanic applications. In the context of complex ocean environments, gliders may yield poor navigation performance due to strong ocean currents, thus…