Path Planning Under Uncertainty to Localize mmWave Sources
Kai Pfeiffer,Yuze Jia,Mingsheng Yin,Akshaj Kumar Veldanda,Yaqi Hu,Amee Trivedi,Jeff Zhang,Siddharth Garg,Elza Erkip,Sundeep Rangan,Ludovic Righetti,Kai Pfeiffer,Yuze Jia,Mingsheng Yin,Akshaj Kumar Veldanda,Yaqi Hu,Amee Trivedi,Jeff Zhang,Siddharth Garg,Elza Erkip,Sundeep Rangan,Ludovic Righetti
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently navigate in cluttered indoor environments. We formulate Extended Kalman filters for emitter location estimation in cases where the signal is received in line-of-sight ...
