Detecting and tracking the position of multiple targets indoors is a challenging measurement problem due to inherent difficulty cluster correctly sensor data associated given target track each with adequate accuracy. This critical especially in rooms filled fixed or moving objects hampering detection whenever paths different cross one another. In this paper, robust Multiple Targets Tracking (MTT) algorithm exploiting clouds points collected from mmWave-FMCW radar presented. The proposed...

Mobile robot navigation and obstacle avoidance in dynamic unknown environments is one of the most challenging problems field robotics. Considering that a must be able to interact with surrounding environment respond it real time, given limited sensing range, inaccurate data, noisy sensor readings, this problem becomes even more acute. In paper, we attempt develop neural network approach equipped statistical dimension reduction techniques perform exact fast navigation, as well such manner....

The problem addressed in this article is the localization of a mobile robot using combination onboard sensors and ultrawideband (UWB) beacons. By discrete-time formulation system's kinematics, we identify geometric conditions that make system globally observable cast state estimation into framework least-squares optimization. observability filter thus obtained remarkably different from classic Bayesian filters, such as Kalman Filter, since it does not need priori stochastic models process...

Autonomous vehicles enable the development of smart warehouses and factories with an increased visibility, flexibility efficiency. Thus, effective affordable localisation methods for indoor are attracting interest to implement real-time applications. This paper presents Extended Kalman Smoother design both localise a mobile agent reconstruct its entire trajectory through sensor-fusion employing UHF-RFID passive technology. Extensive simulations carried out by considering smoother...

The positioning problem addressed in this paper amounts to finding the planar coordinates of a device from collection ranging measurements taken other devices located at known positions. solution based on Weighted Least Square is popular, but its accuracy depends number factors only partially known. In paper, we explore dependency uncertainty geometric configuration anchors. We show refinement technique for estimate produced by WLS that compensates effects geometry and reduces target value...

The accurate localization of robots in indoor environments is a well-known measurement problem, which becomes particularly critical crowded scenarios, where collision with obstacles, objects, and human operators very high. In this article, the problem solved through an optimal path planning strategy that keeps into account ranging uncertainty from given set wireless anchors (e.g., ultra wideband (UWB) transceivers) are used to track position robot known reference frame multilateration....

The Digital Twin (DT) concept has gained attention for its potential to enhance agricultural productivity and sustainability by creating virtual replicas of physical objects or environments. Fixed IoT installations enable the implementation DTs as one main data sources; however, they introduce reliability, scalability, cost limitations. Furthermore, these may miss crucial environmental changes, impacting value collected data. This paper proposes an Unmanned Ground Vehicle (UGV) active...

Purpose Robot localization in dynamic, cluttered environments is a challenging problem because it impractical to have enough knowledge be able accurately model the robot’s environment such manner. This study aims develop novel probabilistic method equipped with function approximation techniques which appropriately data distribution Markov by using maximum statistical power, thereby making sensibly accurate estimation of pose extremely indoors environments. Design/methodology/approach The...

Purpose In this paper, an attempt has been made to develop algorithm equipped with geometric pattern registration techniques perform exact, robust and fast robot localization purely based on laser range data. Design/methodology/approach The expected pose of the a pre-calculated map is in form simulated sensor readings. To obtain exact robot, segmentation both real readings performed. Critical points two scan sets are extracted from segmented data thereby difference computed by matching...

Autonomous systems are becoming more and affordable effective in dynamic industrial environments. Effective localisation algorithm usually considered as enablers to increase the efficiency flexibility of warehouses production plants using automation. The paper presents a solution both localise mobile agent reconstruct its entire trajectory through sensor fusion UHF-RFID passive tags. Solutions on dummy trajectories reported show effectiveness proposed method.

The problem addressed in this paper is the localisation of a mobile robot using combination on-board sensors and Ultra-Wideband (UWB) beacons. Specifically, we consider scenario which travels across an area infrastructured with small number UWB anchors. presence obstacles environment introduces offset measurements distance between anchors causing degradation performance. By discrete–time formulation system dynamics, show that, under mild condition, trajectories can be observed estimated...

This paper presents a Linear Least-Squares approach to estimate the pose of mobile robot based on passive Radio Frequency Identification (RFID) technology at Ultra-High (UHF) band. The leverages received signal power obtain ranging data from set reference landmark RFID tags. Then, an optimisation algorithm merges and odometry reconstruct entire trajectory. proposed method does not require precise placement landmarks it is therefore fast easy deploy. Both numerical experimental analysis are presented.

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust low-drift localization. In order include range measurements in state estimation, the position of UWB anchors must be known. study proposes multi-step initialization procedure map multiple unknown by an Unmanned Aerial Vehicle (UAV), fully autonomous fashion. To address limitations initializing via random trajectory, this uses Geometric...

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Abstract. One of the most important questions for managers corporations is how they select a smart strategy their corporations. To answer this question, Managers should consider some dimensions witch impact on future corporation, and then suitable This paper presents novel model (FASE model) evaluating strategic position choosing based Big Data techniques SPACE matrix. In order to achieve best in market, FASE facilitates selecting among: aggressive, conservative, defensive, competitive...

Wireless technologies are increasingly adopted for indoor localisation and tracking. Among them, radars based on 60 GHz phased-array transceivers becoming a viable low-cost solution, which delivers high accuracy with low computational cost while preserving people privacy. In this paper, we propose two techniques radar-based tracking that tackle important effects such as delayed spurious detection. We also offer thorough scientifically sound experimental analysis of the performance proposed...

Identifying and extracting valuable information from textual documents in the form of cohesively appropriately developed summaries is one most challenging tasks text mining natural language processing. In this article, we present a sequential Markov model, equipped with Bayesian inference, to estimate degree importance sentences document thereby address summarisation problem. The proposed methodology models extractive sentence as state estimation problem, where system each document....

We consider a mobile robot localising itself through set of UWB wireless anchors. show how the use an appropriate localisation algorithm allows for analytical estimate uncertainty. This information is used to build potential-based motion planning that drives along trajectories, while achieving good tradeoff between moving toward goal and keeping uncertainty reasonably low.

Indoor positioning applications are increasingly popular due to the availability of effective and low cost ranging sensors. Many solutions have been proposed recently using these type sensors estimate coordinates (position) a target within given uncertainty. In this paper, we consider problem deploying large scale infrastructure that solves task with guaranteed estimation uncertainty while minimising number To end, adopt two steps procedure. first step, identify basic cell structure...

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust low-drift localization. In order include range measurements in state estimation, the position of UWB anchors must be known. study proposes multi-step initialization procedure map multiple unknown by an Unmanned Aerial Vehicle (UAV), fully autonomous fashion. To address limitations initializing via random trajectory, this uses Geometric...

Undoubtedly robot localization in indoors environment where environmental information is obtained by laser range finders, which provide partial and simple about surrounding of robots, a challenging task. In this paper, an attempt has been made to develop algorithm equipped with geometric pattern registration techniques perform exact, robust, fast purely based on data. The expected pose the pre-calculated map form simulated sensor readings. order obtain exact robot, segmentation both real...

In this paper, we address the mobile robot localisation problem by combining relative measurements with intermittent collected from range sensors (e.g., Ultra-Wide Band transmitters) on motion of robot. We present some basic results possibility reconstructing state using a very small number two different anchors setting up system linear equations. Next, study how observability trajectory can be quantified condition matrix, and hence related to manoeuvres executed sampling time used collect...

Indoor positioning applications are increasingly popular due to the availability of effective and low cost ranging sensors. Many solutions have been proposed recently using these type sensors estimate coordinates (position) a target within given uncertainty. In this paper, we consider problem deploying large scale infrastructure that solves task with guaranteed estimation uncertainty while minimising number To end, adopt two steps procedure. first step, identify basic cell structure...