相关论文: Simulation-based Evaluation of Indoor Positioning …

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…

Indoor location identification and navigation need to be as simple, seamless, and ubiquitous as its outdoor GPS-based counterpart is. It would be of great convenience to the mobile user to be able to continue navigating seamlessly as he or…

Limiting flight delays during operations has become a critical research topic in recent years due to their prohibitive impact on airlines, airports, and passengers. A popular strategy for addressing this problem considers the uncertainty of…

Unmanned aerial vehicle (UAV)-enabled positioning that uses UAVs as aerial anchor nodes is a promising solution for providing positioning services in harsh environments. In previous research, the state sensing and control of UAVs were…

Calibrating simulation models that take large quantities of multi-dimensional data as input is a hard simulation optimization problem. Existing adaptive sampling strategies offer a methodological solution. However, they may not sufficiently…

Relaying can improve the coverage and performance of wireless access networks. In presence of a localisation system at the mobile nodes, the use of such location estimates for relay node selection can be advantageous as such information can…

Model-based approaches bear great promise for decision making of agents interacting with the physical world. In the context of spatial environments, different types of problems such as localisation, mapping, navigation or autonomous…

Surrogate Neural Networks are nowadays routinely used in industry as substitutes for computationally demanding engineering simulations (e.g., in structural analysis). They allow to generate faster predictions and thus analyses in industrial…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…

In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…

The output-error method is a mainstay of aircraft system identification from flight-test data. It is the method of choice for a wide range of applications, from the estimation of stability and control derivatives for aerodynamic database…

In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…

This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…

In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…

The use of unmanned aerial vehicles (UAV) as flying radio access network (RAN) nodes offers a promising complement to traditional fixed terrestrial deployments. More recently yet still in the context of wireless networks, drones have also…

Public-transit systems face a number of operational challenges: (a) changing ridership patterns requiring optimization of fixed line services, (b) optimizing vehicle-to-trip assignments to reduce maintenance and operation codes, and (c)…

Radio applications are increasingly being used in urban environments for cellular radio systems and safety applications that use vehicle-vehicle, and vehicle-to-infrastructure. We present a novel ray tracing-based radio propagation…

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…