相关论文: Development of a planar cable-driven parallel robo…
Huge overhead of beam training imposes a significant challenge in millimeter-wave (mmWave) wireless communications. To address this issue, in this paper, we propose a wide beam based training approach to calibrate the narrow beam direction…
The main focus of beam alignment is to find the optimal beam which yields the largest received signal strength (RSS) with faster speed.In this paper, we demonstrate an efficient beam alignment scheme with our testbed. The algorithm we…
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…
In this paper, we present a new wireless sensing system utilizing a movable antenna (MA) that continuously moves and receives sensing signals to enhance sensing performance over the conventional fixed-position antenna (FPA) sensing. We show…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
We present the design of a Velocity Map Imaging apparatus tailored to the demands of high-resolution crossed molecular beam experiments employing Stark or Zeeman decelerators. The key requirements for these experiments consist of the…
Beam alignment - the process of finding an optimal directional beam pair - is a challenging procedure crucial to millimeter wave (mmWave) communication systems. We propose a novel beam alignment method that learns a site-specific probing…
Understanding transverse coupling dynamics is crucial for beam physics, accelerator design, and operations. Currently, most accelerators are designed for uncoupled beams, and coupling is treated as an error or perturbation. Many transverse…
Millimeter-wave (mmWave) and terahertz (THz) communication systems typically deploy large antenna arrays to guarantee sufficient receive signal power. The beam training overhead associated with these arrays, however, make it hard for these…
Pareto optimal solutions are conceived for radar beamforming error (RBE) and sum rate maximization in short-packet (SP) millimeter-wave (mmWave) integrated sensing and communication (ISAC). Our ultimate goal is to realize ultra-reliable…
In the advent of next-generation wireless communication, millimeter-wave (mmWave) and terahertz (THz) technologies are pivotal for their high data rate capabilities. However, their reliance on large antenna arrays and narrow directive beams…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
In this paper, the problem of pilot beam pattern design for channel estimation in massive multiple-input multiple-output systems with a large number of transmit antennas at the base station is considered, and a new algorithm for pilot beam…
In this paper, we investigate the problem of beam alignment in millimeter wave (mmWave) systems, and design an optimal algorithm to reduce the overhead. Specifically, due to directional communications, the transmitter and receiver beams…
Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Rapid beam alignment is required to support high gain millimeter wave (mmW) communication links between a base station (BS) and mobile users (MU). The standard IEEE 802.11ad protocol enables beam alignment at the BS and MU through a lengthy…