相关论文: Infrastructure-less UWB-based Active Relative Loca…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
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 sensor networks require accurate target localization, often achieved through received signal strength (RSS) localization estimation based on maximum likelihood (ML). However, ML-based algorithms can suffer from issues such as low…
Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…
Internet of Things (IoT) device localization is fundamental to smart home functionalities, including indoor navigation and tracking of individuals. Traditional localization relies on relative methods utilizing the positions of anchors…
Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…
Perceiving obstacles and avoiding collisions is fundamental to the safe operation of a robot system, particularly when the robot must operate in highly dynamic human environments. Proximity detection using on-robot sensors can be used to…
Precise indoor localization of moving targets is a challenging activity which cannot be easily accomplished without combining different sources of information. In this sense, the combination of different data sources with an appropriate…
The high time resolution of ultra-wideband (UWB) signals facilitates very precise position estimation in many scenarios, which makes a variety applications possible. This paper reviews the problem of position estimation in UWB systems,…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
Smart and unobtrusive mobile sensor nodes that accurately track their own position have the potential to augment data collection with location-based functions. To attain this vision of unobtrusiveness, the sensor nodes must have a compact…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped robot acting as a dynamic docking pad.…
The target sensing/localization performance is fundamentally limited by the line-of-sight link and severe signal attenuation over long distances. This paper considers a challenging scenario where the direct link between the base station…
Rodents have long been established as the premier model for behavioral studies, traditionally raised and maintained in conventional cage environments. However, these settings often limit rodents' ability to exhibit their full range of…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA),…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
With the widespread adoption of smartphones, ensuring pedestrian safety on roads has become a critical concern due to smartphone distraction. This paper proposes a novel and real-time assistance system called UWB-assisted Safe Walk (UASW)…
Precise indoor localization is an increasingly demanding requirement for various emerging applications, like Virtual/Augmented reality and personalized advertising. Current indoor environments are equipped with pluralities of WiFi access…