相关论文: Robust Underwater Localization of Buoyancy Driven …

Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…

Underwater localization is essential for marine exploration and autonomous underwater operations, yet existing radio frequency and optical approaches are limited by rapid attenuation or limited visibility. Acoustic sensing remains the most…

Many applications require positioning. Time of Flight (ToF) methods calculate distances by measuring the propagation time of signals. We present a novel ToF localization method. Our new approach works infrastructure-less, without…

Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…

Accurate localization for mobile nodes has been an important and fundamental problem in underwater acoustic sensor networks (UASNs). The detection information returned from a mobile node is meaningful only if its location is known. In this…

Existing works have explored the anchor deployment for autonomous underwater vehicles (AUVs) localization under the assumption that the sound propagates straightly underwater at a constant speed. Considering that the underwater acoustic…

Despite significant advances in generic object detection, a persistent performance gap remains for tiny objects compared to normal-scale objects. We demonstrate that tiny objects are highly sensitive to annotation noise, where optimizing…

Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…

Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…

Today, many applications such as production or rescue settings rely on highly accurate entity positioning. Advanced Time of Flight (ToF) based positioning methods provide highaccuracy localization of entities. A key challenge for ToF based…

Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…

Localization is a fundamental function in cooperative control of micro unmanned aerial vehicles (UAVs), but is easily affected by flip ambiguities because of measurement errors and flying motions. This study proposes a localization method…

Seafloor acoustic anchors are an important component of AUV navigation, providing absolute updates that correct inertial dead-reckoning. Unlike terrestrial positioning systems, the deployment of underwater anchor nodes is usually sparse due…

Underwater source localization problems are complicated and challenging: a) the sound propagation speed is often unknown and the unpredictable ocean current might lead to the uncertainties of sensor parameters (i.e. position and velocity);…

Anthropogenic underwater noise from offshore wind turbines is a growing environmental concern, particularly with the large-scale deployment of bottom-fixed and floating devices. This study presents a physics-based vibroacoustic framework to…

Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising…

The research presented in this paper is aimed at developing a control algorithm for an autonomous surface system carrying a two-sensor array consisting of two acoustic receivers, capable of measuring the time-difference-of-arrival (TDOA) of…

Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…

Localization of underwater networks is important in many military and civil applications. Because GPS receivers do not work below the water surface, traditional localization methods form a relative topology of underwater nodes (UWNs) and…

In this letter, we investigate the fundamental limits of localization in fluid antenna systems (FAS) utilizing a Fisher-information-theoretic framework. We develop a unified model to quantify the localization information extractable from…