相关论文: WiROS: WiFi sensing toolbox for robotics

This paper presents the WiFi-Sensor-for-Robotics (WSR) toolbox, an open source C++ framework. It enables robots in a team to obtain relative bearing to each other, even in non-line-of-sight (NLOS) settings which is a very challenging…

Development and testing of multi-robot systems employing wireless signal-based sensing requires access to suitable hardware, such as channel monitoring WiFi transceivers, which can pose significant limitations. The WiFi Sensor for Robotics…

The Received Signal Strength Indicator (RSSI) is ubiquitously available on commodity WiFi devices but is commonly regarded as too coarse for fine-grained sensing. This paper revisits its sensing potential and presents WiRSSI, a bistatic…

Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…

With the rapid development of wireless communication technology, wireless access points (AP) and internet of things (IoT) devices have been widely deployed in our surroundings. Various types of wireless signals (e.g., Wi-Fi, LoRa, LTE) are…

WiFi technology has been used pervasively in fine-grained indoor localization, gesture recognition, and adaptive communication. Achieving better performance in these tasks generally boils down to differentiating Line-Of-Sight (LOS) from…

WiFi sensing based on channel state information (CSI) collected from commodity WiFi devices has shown great potential across a wide range of applications, including vital sign monitoring and indoor localization. Existing WiFi sensing…

This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS)…

Thanks to the ubiquitous deployment of Wi-Fi hotspots, channel state information (CSI)-based Wi-Fi sensing can unleash game-changing applications in many fields, such as healthcare, security, and entertainment. However, despite one decade…

In future cellular systems, wireless localization and sensing functions will be built-in for specific applications, e.g., navigation, transportation, and healthcare, and to support flexible and seamless connectivity. Driven by this trend,…

Wi-Fi-based positioning promises a scalable and privacy-preserving solution for location-based services in indoor environments such as malls, airports, and campuses. RSS-based methods are widely deployable as RSS data is available on all…

Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…

Wi-Fi sensing is an emerging technology that uses channel state information (CSI) from ambient Wi-Fi signals to monitor human activity without the need for dedicated sensors. Wi-Fi sensing does not only represent a pivotal technology in…

Recent interest towards autonomous navigation and exploration robots for indoor applications has spurred research into indoor Simultaneous Localization and Mapping (SLAM) robot systems. While most of these SLAM systems use Visual and LiDAR…

Recent trends have accelerated the development of spatial applications on mobile devices and robots. These include navigation, augmented reality, human-robot interaction, and others. A key enabling technology for such applications is the…

Indoor localization plays a vital role in the era of the IoT and robotics, with WiFi technology being a prominent choice due to its ubiquity. We present a method for creating WiFi fingerprinting datasets to enhance indoor localization…

We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…

Thanks to the ubiquitousness of Wi-Fi access points and devices, Wi-Fi sensing enables transformative applications in remote health care, security, and surveillance. Existing work has explored the usage of machine learning on channel state…

The performance of wireless communication systems is fundamentally constrained by random and uncontrollable wireless channels. Recently, reconfigurable intelligent surfaces (RIS) has emerged as a promising solution to enhance wireless…

While commonly used for communication purposes, an increasing number of recent studies consider WiFi for sensing. In particular, wireless signals are altered (e.g., reflected and attenuated) by the human body and objects in the environment.…