相关论文: Exploiting Redundancy for UWB Anomaly Detection in…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
A robust positioning pattern is a large array that allows a mobile device to locate its position by reading a possibly corrupted small window around it. In this paper, we provide constructions of binary positioning patterns, equipped with…
As networks continue to grow in complexity and scale, detecting anomalies has become increasingly challenging, particularly in diverse and geographically dispersed environments. Traditional approaches often struggle with managing the…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
This paper studies the use of directional antennas for received signal strength difference (RSSD) based localization using ultra-wideband and demonstrates the achievable accuracy with this localization method applied to UWB. As introduced…
This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy…
This paper presents a novel approach to deal with the cooperative localization problem in wireless sensor networks based on received signal strength measurements. In cooperative scenarios, the cost function of the localization problem…
Due to their robustness to degraded capturing conditions, radars are widely used for environment perception, which is a critical task in applications like autonomous vehicles. More specifically, Ultra-Wide Band (UWB) radars are particularly…
Conventional object detection methods essentially suppose that the training and testing data are collected from a restricted target domain with expensive labeling cost. For alleviating the problem of domain dependency and cumbersome…
The LiDAR-inertial odometry (LIO) and the ultra-wideband (UWB) have been integrated together to achieve driftless positioning in global navigation satellite system (GNSS)-denied environments. However, the UWB may be affected by systematic…
Spatial Reuse (SR) has recently gained attention to maximize the performance of IEEE 802.11 Wireless Local Area Networks (WLANs). Decentralized mechanisms are expected to be key in the development of SR solutions for next-generation WLANs,…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
Detecting anomalies in large, distributed systems presents several challenges. The first challenge arises from the sheer volume of data that needs to be processed. Flagging anomalies in a high-throughput environment calls for a careful…
Anomaly, or out-of-distribution, detection is a promising tool for aiding discoveries of new particles or processes in particle physics. In this work, we identify and address two overlooked opportunities to improve anomaly detection for…
Existing network analysis methods struggle to optimize observer placements in dynamic environments with limited visibility. This dissertation introduces the novel ROBUST (Ranged Observer Bipartite-Unipartite SpatioTemporal) framework,…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
We study the multichannel quickest change detection problem with bandit feedback and controlled sensing, in which an agent sequentially selects one of the data streams to observe at each time-step and aims to detect an unknown change as…
In this paper some new experimental results about the statistical characterization of the non-line-of-sight (NLOS) bias affecting time-of-arrival (TOA) estimation in ultrawideband (UWB) wireless localization systems are illustrated. Then,…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…