相关论文: UWB Anchor Based Localization of a Planetary Rover
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
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…
This paper provides an overview of the current challenges in wireless audio transmission and highlights the limitations of existing technologies regarding data bandwidth, data compression, latency, and inter-device compatibility. To address…
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…
High-precision positioning is vital for cellular networks to support innovative applications such as extended reality, unmanned aerial vehicles (UAVs), and industrial Internet of Things (IoT) systems. Existing positioning algorithms using…
For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…
This paper studies the use of directional antennas for received signal strength difference (RSSD) based localization using ultra-wideband and demonstrates the achievable accuracy with this localization method applied to UWB. As introduced…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation--which predicts where…
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they carry a specific devices with them. To achieve this "device…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
This paper presents a novel testbed designed for 5th-Generation (5G) positioning using Universal Software Radio Peripherals (USRPs). The testbed integrates multiple units: an Operation Unit for test management, a User Unit equipped with an…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…
Localizing radio frequency (RF) sources with an unmanned aerial vehicle (UAV) has many important applications. As a result, UAV-based localization has been the focus of much research. However, previous approaches rely heavily on custom…