相关论文: Range-Only Localization System for Small-Scale Fla…

Many applications have been identified which require the deployment of large-scale low-power wireless sensor networks. Some of the deployment environments, however, impose harsh operation conditions due to intense cross-technology…

Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight…

Differential GPS, commonly referred as DGPS, is a well-known and very accurate localization system for many outdoor applications in particular for mobile outdoor robotics. The most common drawback of DGPS systems are the high costs for both…

High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…

We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…

Ultra-wideband (UWB) positioning has emerged as a low-cost and dependable localization solution for multiple use cases, from mobile robots to asset tracking within the Industrial IoT. The technology is mature and the scientific literature…

Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work,…

As Wireless Sensor Networks are penetrating into the industrial domain, many research opportunities are emerging. One such essential and challenging application is that of node localization. A feed-forward neural network based methodology…

For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…

Two subspace fitting approaches are proposed for wideband near-field localization. Unlike in conventional far-field systems, where distance and angle can be estimated separately, spherical wave propagation in near-field systems couples…

Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…

Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…

Ultra-wideband (UWB) technology is a mature technology that contested other wireless technologies in the advent of the IoT but did not achieve the same levels of widespread adoption. In recent years, however, with its potential as a…

Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…

Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…

This paper presents an experimental measurement platform for the research and development of unmanned aerial vehicles (UAVs) localization algorithms using radio emission and reflectivity. We propose a cost-effective, flexible testbed made…

In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…

In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…

Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…

To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…