Regarding the issue of high dependency on odometry in the adaptive Monte Carlo localization (AMCL) algorithm, an improved AMCL algorithm based on the normal distributions transform (NDT) and extended Kalman filter (EKF) is proposed. A virtual motion...
SLAM (simultaneous localization and mapping) technology incorporating QR code navigation has been widely used in the mobile robotics industry. However, the particle kidnapping problem, positioning accuracy, and navigation time are still urgent issues...
A robot can accurately localize itself and navigate in an indoor environment based on information about the operating environment, often called a world or a map. While typical maps describe structural layouts of buildings, the accuracy of localizatio...
Global localization is one of the important issues for mobile robots to achieve indoor navigation. Nowadays, most mobile robots rely on light detection and ranging (LiDAR) and adaptive Monte Carlo localization (AMCL) to realize their localization and...
This paper proposes a method that improves autonomous vehicles localization using a modification of probabilistic laser localization like Monte Carlo Localization (MCL) algorithm, enhancing the weights of the particles by adding Kalman filtered Globa...
Localization is one of the most important issues in mobile robotics, especially when an autonomous mobile robot performs a navigation task. The current and popular occupancy grid map, based on 2D LiDar simultaneous localization and mapping (SLAM), is...
The study aimed to adapt selected formulas for the estimation of the maximum depth of local scour in the area of the bridge pillar model: Begam formula, Laursen and Toch equation and the equation included in the Regulation of the Polish Minister of T...
Accurate and efficient evaluation of the intersection area between two axis-aligned ellipses is essential in applications where the coordinate system or underlying geometry naturally imposes alignment. However, most existing numerical integration tec...
The emerging Local Maximum-Entropy (LME) approximation, which combines the advantages of global and local approximations, has an unsolved issue wherein it cannot adaptively change the morphology of the basis function according to the local characteri...
Constructing an effective importance sampling density is crucial for structural reliability analysis via importance sampling (IS), particularly when dealing with performance functions that have multiple design points or disjoint failure domains. This...
In this work, we introduce a novel variance reduction approach utilising the integral formulation of the radiative transfer equation to calculate the radiance in a planar symmetric slab geometry. Due to its integral nature, our method offers a fundam...
To improve the sampling efficiency of Markov Chain Monte Carlo in complex parameter spaces, this paper proposes an adaptive sampling method that integrates a swarm intelligence mechanism called the BeeSwarm-MH algorithm. The method combines global ex...
In real-world robotic navigation, some ambiguous environments contain symmetrical or featureless areas that may cause the perceptual aliasing of external sensors. As a result of that, the uncorrected localization errors will accumulate during the loc...
The Dempster–Shafer (D–S) evidence theory, while powerful for uncertainty reasoning, suffers from mathematical limitations in high–conflict scenarios where its combination rule produces counterintuitive results. This paper introduce...
This paper proposes a novel multi-sensor-based indoor global localization system integrating visual localization aided by CNN-based image retrieval with a probabilistic localization approach. The global localization system consists of three parts: co...
In the case of a single scene feature, the positioning of an indoor service robot takes a long time, and localization errors are likely to occur. A new method for a hybrid indoor localization system according to multi-sensor fusion is proposed to sol...
Mobile manipulation, which has more flexibility than fixed-base manipulation, has always been an important topic in the field of robotics. However, for sophisticated operation in complex environments, efficient localization and dynamic tracking grasp...
This paper addresses the Sensor Deployment Optimization Problem (SDOP) by presenting a novel hybrid metaheuristic algorithm designed to create resilient and self-healing wireless sensor networks (WSNs). We introduce the Dynamic Multi-Pack Adaptive Gr...
In the field of sound source identification, robust and accurate identification of the targeted source could be a challenging task. Most of the existing methods select the regularization parameters whose value could directly affect the accuracy of so...
This study aimed to develop a real-time localization system for an AMR (autonomous mobile robot), which utilizes the Robot Operating System (ROS) Noetic version in the Ubuntu 20.04 operating system. RTAB-MAP (Real-Time Appearance-Based Mapping) is em...
In this paper, we present multiple techniques for phase-based narrowband backscatter tag localization in three-dimensional space with planar antenna arrays or synthetic apertures. Beamformer and MUSIC localization algorithms, known from near-field so...
This research work presents the design and the development of a cost-effective autonomous mobile robot for locating misplaced objects within unstructured indoor environments. The tools integrated into the proposed system for perception and localizati...
Simultaneous localization and mapping (SLAM) is a dual process responsible for the ability of a robotic vehicle to build a map of its surroundings and estimate its position on that map. This paper presents the novel concept of creating a 3D map based...
An in-depth knowledge of the structure formation process and the resulting dependency of the morphology on the reaction mechanism is a key requirement in order to design application-oriented materials. For twin polymerization, the basic idea of the r...
In the modern age of data enrichment, it has become necessary to incorporate adaptive inference processes into survey-based estimation systems in order to achieve efficient and consistent population summaries. In this work, a new type of data-adaptiv...
Humanitarian Crisis scenarios typically require immediate rescue intervention. In many cases, the conditions at a scene may be prohibitive for human rescuers to provide instant aid, because of hazardous, unexpected, and human threatening situations....
Multi-sensor fusion for unmanned surface vehicles (USVs) is an important issue for autonomous navigation of USVs. In this paper, an improved particle swarm optimization (PSO) is proposed for real-time autonomous navigation of a USV in real maritime e...
Bounds are developed on the maximum communications rate between a transmitter and a fusion node aided by a cluster of distributed receivers with limited resources for cooperation, all in the presence of an additive Gaussian interferer. The receivers...
In this paper, we propose a localization method applicable to 3D LiDAR by improving the LiDAR localization algorithm, such as AMCL (Adaptive Monte Carlo Localization). The method utilizes multiple sensing information, including 3D LiDAR, IMU and the...
In agricultural field inspection robots, constructing accurate environmental maps and achieving precise localization are essential for effective Light Detection And Ranging (LiDAR) Simultaneous Localization And Mapping (SLAM) navigation. However, nav...
Accurate and energy-efficient localization of autonomous underwater vehicles (AUVs) remains a fundamental challenge due to the complex, bandwidth-limited, and highly dynamic nature of underwater acoustic environments. This paper proposes a fully adap...
In order to improve the reconnaissance efficiency of unmanned aerial vehicle (UAV) electro-optical stabilized imaging systems, a real-time multi-target localization scheme based on an UAV electro-optical stabilized imaging system is proposed. First,...
This paper presents a hybrid indoor localization framework combining time difference of arrival (TDoA) measurements with a swarm intelligence optimization technique. To address the nonlinear optimization challenges in three-dimensional (3D) indoor lo...
The design of hydraulic structures in the Arctic is complicated by shallow relief, which cause unique runoff processes that promote snow-damming and refreeze of runoff. We discuss the challenges encountered in modeling snowmelt runoff into two coasta...
As the pixel resolution of imaging equipment has grown larger, the images’ sizes and the number of pixels used to represent objects in images have increased accordingly, exposing an issue when dealing with larger images using the traditional de...
With the strengths of quickness, low cost, and adaptability, unmanned aerial vehicle (UAV) communication is widely utilized in the next-generation wireless network. However, some risks and hidden dangers such as UAV “black flight” disturb...
Machine learning technologies are being integrated into robotic systems faster to enhance their efficacy and adaptability in dynamic environments. The primary goal of this research was to propose a method to develop an Autonomous Mobile Robot (AMR) t...
This paper presents the design and implementation of a mobile robotic platform modelled as a layered Cyber–Physical System (CPS). Inspired by architectures commonly used in industrial Distributed Control Systems (DCSs) and large-scale scientifi...
The autonomous navigation of mobile robots contains three parts: map building, global localization, and path planning. Precise pose data directly affect the accuracy of global localization. However, the cumulative error problems of sensors and variou...
Based on power adding technology, the linear transformer driver (LTD) scheme is widely used to generate high-energy pulsed outputs and adopts a hierarchical and modular structure. Although robust design and fault analysis for basic components have be...
Euplotes nobilii and Euplotes raikovi are phylogenetically closely allied species of marine ciliates, living in polar and temperate waters, respectively. Their evolutional relation and the sharply different temperatures of their natural environments...
Efficient fusion of navigation sensor data with different output frequencies and data types is critical for ensuring that vehicle-mounted integrated navigation systems consistently provide stable, reliable navigation solutions in complex dynamic oper...
Pipeline transportation is widely used in industrial production and daily life. In order to reduce the waste of resources and economic losses caused by pipeline leakage, effective pipeline leakage detection and localization technology is particularly...
The traditional wheelchair focuses on the “human-chair” motor function interaction to ensure the elderly and people with disabilities’ basic travel. For people with visual, hearing, physical disabilities, etc., the current wheelchai...
This study evaluates the potential of gasification-based energy-from-waste (EfW) as a sustainable alternative to the current incineration facility in an industrial zone of a major UK city. The city generates approximately 475,000 tonnes of municipal...
Many biological processes are triggered or driven by mechanical forces in the cytoskeletal network, but these transducing forces have rarely been assessed. Striated muscle, with its well-organized structure provides an opportunity to assess intracell...
Surrogate Modeling (SM) is often used to reduce the computational burden of time-consuming system simulations. However, continuous advances in Artificial Intelligence (AI) and the spread of embedded sensors have led to the creation of Digital Twins (...
In this study, the total electromagnetic dose, i.e., the combined dose from fixed antennas and mobile devices, was estimated for a number of hypothetical network topologies for implementation in Switzerland to support the deployment of fifth generati...
The main objective of this study is to develop and compare hybrid Artificial Intelligence (AI) approaches, namely Adaptive Network-based Fuzzy Inference System (ANFIS) optimized by Genetic Algorithm (GAANFIS) and Particle Swarm Optimization (PSOANFIS...
This study strengthens the external distance variation for the indoor positioning performance. With the received signal strength (RSS) of the unknown node, a localization is performed to positioning its coordinates. The mean square error (MSE) of loc...
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