相关论文: Exploiting Redundancy for UWB Anomaly Detection in…
Location information is often used as a proxy to guarantee the performance of a wireless communication link. However, localization errors can result in a significant mismatch with the guarantees, particularly detrimental to users operating…
Accurate and robust localization is crucial for wireless ad-hoc and sensor networks. Among the localization techniques, component-based methods advance themselves for conquering network sparseness and anchor sparseness. But component-based…
We consider the problem of obtaining relative location information between two wireless nodes from the differences in their ultra-wideband (UWB) channels to observer nodes. Our approach focuses on the delays of multipath components (MPCs)…
Traditional exteroceptive sensors in mobile robots, such as LiDARs and cameras often struggle to perceive the environment in poor visibility conditions. Recently, radar technologies, such as ultra-wideband (UWB) have emerged as potential…
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 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…
In this paper, we propose a data-driven framework for collaborative wideband spectrum sensing and scheduling for networked unmanned aerial vehicles (UAVs), which act as the secondary users to opportunistically utilize detected spectrum…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
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…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
In this paper, to synchronize Ultra Wideband (UWB) systems in ad-hoc multi-user environments, we propose a new timing acquisition approach for achieving a good performance despite the difficulties to get there. Synchronization constraints…
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…
This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception. A systematic study of this problem is essential for many safety-critical robotic applications…
Millimeter-wave radar offers unique advantages in adverse weather but suffers from low spatial fidelity, severe azimuth ambiguity, and clutter-induced spurious returns. Existing methods mainly focus on improving spatial perception…
Indoor positioning systems based on Ultra-wideband (UWB) technology are gaining recognition for their ability to provide cm-level localization accuracy. However, these systems often encounter challenges caused by dense multi-path fading,…