相关论文: Raspi$^2$USBL: An open-source Raspberry Pi-Based P…
The non-orthogonal coexistence between the enhanced mobile broadband (eMBB) and the ultra-reliable low-latency communication (URLLC) in the downlink of a multi-cell massive MIMO system is rigorously analyzed in this work. We provide a…
Accurate indoor positioning for unmanned aerial vehicles (UAVs) is critical for logistics, surveillance, and emergency response applications, particularly in GPS-denied environments. Existing indoor localization methods, including optical…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
Time reversal of waves has been successfully used in communications, sensing and imaging for decades. The application in underwater acoustic communications is of our special interest, as it puts together a reversible process (allowing a…
Reconfigurable intelligent surfaces (RISs) not only assist communication but also help the localization of user equipment (UE). This study focuses on the indoor localization of UE with a single access point (AP) aided by multiple RISs.…
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems,…
Navigation and source localization in the undersea environment are challenged by the absence of a ubiquitous positioning system. Passive acoustic ranging offers a valuable means of obtaining location information underwater. We present a…
Endotracheal intubation is a critical yet technically demanding procedure, with failure or improper tube placement leading to severe complications. Existing robotic and teleoperated intubation systems primarily focus on airway navigation…
This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
Channel-state information (CSI)-based sensing will play a key role in future cellular systems. However, no CSI dataset has been published from a real-world 5G NR system that facilitates the development and validation of suitable sensing…
Deep-sea exploration poses significant challenges, including disorientation, communication loss, and navigational failures in dynamic underwater environments. This paper presents an Autonomous Underwater Cognitive System (AUCS) that…
The design and development of swarms of micro-aerial vehicles (MAVs) has recently gained significant traction. Collaborative aerial swarms have potential applications in areas as diverse as surveillance and monitoring, inventory management,…
Nano-size unmanned aerial vehicles (UAVs), with few centimeters of diameter and sub-10 Watts of total power budget, have so far been considered incapable of running sophisticated visual-based autonomous navigation software without external…
Indoor localization systems face a fundamental trade-off between efficiency and responsiveness, which is especially important for emerging use cases such as mobile robots operating in GPS-denied environments. Traditional RTLS either require…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Future mobile networks not only envision enhancing the traditional link quality and data rates of mobile broad band (MBB) links, but also development of new control channels to meet the requirements of delay sensitive use cases. In…