相关论文: Sensor Misalignment-tolerant AUV Navigation with P…

We study the calibration process in circular ultrasound tomography devices where the sensor positions deviate from the circumference of a perfect circle. This problem arises in a variety of applications in signal processing ranging from…

In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…

Accurate underwater localization remains a challenge for inexpensive autonomous platforms that require highfrequency position updates. In this paper, we present a robust, low-cost localization pipeline for buoyancy-driven microFloats…

Massive multiple-input multiple-output (MIMO) radar, enabled by millimeter-wave virtual MIMO techniques, provides great promises to the high-resolution automotive sensing and target detection in unmanned ground/aerial vehicles (UGA/UAV). As…

Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial…

The unscented Kalman filter is a nonlinear estimation algorithm commonly used in navigation applications. The prediction of the mean and covariance matrix is crucial to the stable behavior of the filter. This prediction is done by…

Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately measured by wearable sensors. In recent years, invariant…

Precise sensing and control of spatial mode content is essential for the performance of precision optical systems, particularly interferometric gravitational-wave detectors, where misalignment and mode mismatch can lead to significant…

The increasing spreading of small commercial Unmanned Aerial Vehicles (UAVs, aka drones) presents serious threats for critical areas such as airports, power plants, governmental and military facilities. In fact, such UAVs can easily disturb…

In this paper, we consider the problem of acoustic source localization by acoustic sensor networks (ASNs) using a promising, learning-based technique that adapts to the acoustic environment. In particular, we look at the scenario when a…

Estimating the direction of arrival (DOA) of sources is an important problem in aerospace and vehicular communication, localization and radar. In this paper, we consider a challenging multi-source DOA estimation task, where the receiving…

Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

Direction of arrival (DOA) estimation is a fundamental problem in array signal processing with applications spanning radar, sonar, wireless communications, and acoustic signal processing. This tutorial survey provides a comprehensive…

Unmanned Aerial Vehicles autonomously perform tasks with the use of state-of-the-art control algorithms. These control algorithms rely on the freshness and correctness of sensor readings. Incorrect control actions lead to catastrophic…

Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious parameter tuning and suboptimal performance in challenging…

In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…

With the development of intelligent transportation, growing attention has been received to integrated sensing and communication (ISAC) systems. In this paper, we formulate a novel passive sensing technique to obtain information on the…

This work considers a line-of-sight underwater acoustic sensor network (UWASN) consisting of $M$ underwater sensor nodes randomly deployed according to uniform distribution within a vertical half-disc (the so-called trusted zone). The…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…