相关论文: Co-Design of a Robot Controller Board and Indoor P…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Currently there is no standard indoor positioning system, similar to outdoor GPS. However, WiFi signals have been used in a large number of proposals to achieve the above positioning, many of which use machine learning to do so. But what…
Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…
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…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
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…
In this paper, we propose a Meta-IoT system to achieve ubiquitous deployment and pervasive sensing for future Internet of Things (IoT). In such a system, sensors are composed of dedicated meta-materials whose frequency response of wireless…
As integrated sensing and communication (ISAC) capabilities become more prevalent in the mobile 6G radio landscape, there is a substantial opportunity to enhance situational awareness across diverse applications through multi-static radar…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…
Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Hidden spy cameras have become a great privacy threat recently, as these low-cost, low-power, and small form-factor IoT devices can quietly monitor human activities in the indoor environment without generating any side-channel information.…