相关论文: Bearing-based Target Localisation in Search and Re…

Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…

This work deals with the problem of localizing a victim buried by an avalanche by means of a drone equipped with an ARVA (Appareil de Recherche de Victimes d'Avalanche) sensor. The proposed control solution is based on a "model-free"…

This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…

Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…

In modern radar systems, precise target localization using azimuth and velocity estimation is paramount. Traditional unbiased estimation methods have utilized gradient descent algorithms to reach the theoretical limits of the Cramer Rao…

Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…

Radar targets are traditionally modelled as point target reflectors, even in the near-field region. Yet, for radar systems operating at high carrier frequencies and small distances, traditional radar propagation models do not accurately…

We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…

The large number and scale of natural and man-made disasters have led to an urgent demand for technologies that enhance the safety and efficiency of search and rescue teams. Semi-autonomous rescue robots are beneficial, especially when…

This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…

This paper focuses on assessing the limitations in the direction-finding process of radio sources with directional antennas in an urbanized environment, demonstrating how signal source antenna parameters, such as beamwidth and maximum…

Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

In this work we develop clustering techniques for the Bearing Only Target Localization (BOTL) problem. Our scenario has a receiver move along some path, generating bearing estimates on some interval. Multiple emitting targets exist in the…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…

In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…

We consider the following positioning problem where several base stations (BS) try to locate a user equipment (UE): The UE sends a positioning signal to several BS. Each BS performs Angle of Arrival (AoA) measurements on the received…

Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…

This paper focuses on target localization in a widely distributed multiple-input-multiple-output (MIMO) radar system. In this system, range measurements, which include the sum of distances between transmitter and target and the distances…