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arXiv 2025年

作者： San-Segundo, Rubén Angulo, Lucía Gil-Martín, Manuel Carramiñana, David Bernardos, Ana M. Speech Technology and Machine Learning Group Information Processing and Telecommunications Center Universidad Politécnica de Madrid ETSI Telecomunicación Av. Complutense 30 Madrid28040 Spain Simulation and Data Processing Group Information Processing and Telecommunications Center Universidad Politécnica de Madrid ETSI Telecomunicación Av. Complutense 30 Madrid28040 Spain

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep learning model has been trained using reinforcement learning. The rule-based engine uses expert knowledge to deal with specific situations. The navigation module incorporates several strategies to explain the drone decision based on its observation space, and different mechanisms for including human decisions in the navigation process. Finally, this paper proposes an evaluation methodology based on defining several scenarios and analyzing the performance of the different strategies according to metrics adapted to each scenario. Results: Two main navigation problems have been studied. For the first scenario (reaching known targets), it has been possible to obtain a 90% task completion rate, reducing significantly the number of collisions thanks to the rule-based engine. For the second scenario, it has been possible to reduce 20% of the time required to locate all the targets using the reinforcement learning model. Conclusions: Reinforcement learning is a very good strategy to learn policies for drone navigation, but in critical situations, it is necessary to complement it with a rule-based module to increase task success rate. © 2025, CC BY-NC-ND.

关键词： Drones

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A low power routing algorithm for localization in IEEE 802.15.4 networks

A low power routing algorithm for localization in IEEE 802.1...

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作者： Bergesio, Luca Tarrío, Paula Bernardos, Ana M. Casar, José R. Data Processing and Simulation Group ETSI. Telecomunicación Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9783642199073

Many context-aware applications rely on the knowledge of the position of the user and the surrounding objects to provide advanced, personalized and real-time services. In wide-area deployments, a routing protocol is needed to collect the location information from distant nodes. In this paper, we propose a new source-initiated (on demand) routing protocol for location-aware applications in IEEE 802.15.4 wireless sensor networks. This protocol uses a low power MAC layer to maximize the lifetime of the network while maintaining the communication delay to a low value. Its performance is assessed through experimental tests that show a good trade-off between power consumption and time delay in the localization of a mobile device. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Wireless sensor networks

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Tracking filters using kinematic measurements

Tracking filters using kinematic measurements

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FUSION 2007 - 2007 10th International Conference on Information Fusion

作者： Besada, Juan A. Soto, Andres De Miguel, Gonzalo Herrero, Jesús García Simulation and Data Processing Group Universidad Politécnica de Madrid Madrid Spain Universidad Carlos III de Madrid Madrid Spain

ISBN: (纸本)0662478304

This paper describes two tracking filters based on the use of kinematic information (velocity, acceleration), in addition to usual position measurements. This kinematic information allows for more advanced filtering methods, reducing error especially on maneuvers. In the paper we will show two different Kalman filter exploiting this information, and compare them with regards to accuracy, computational load, ... Mode S Enhanced Surveillance measures will be used as an example for the application of those filters.

关键词： Extended Kalman filters

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An energy-efficient strategy for combined RSS-PDR indoor localization

An energy-efficient strategy for combined RSS-PDR indoor loc...

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2011 9th IEEE International Conference on Pervasive Computing and Communications Workshops, PERCOM Workshops 2011

作者： Tarrio, Paula Cesana, Matteo Tagliasacchi, Marco Redondi, Alessandro Borsani, Luca Casar, Jose R. Data Processing and Simulation Group Universidad Politécnica de Madrid Spain Dipartimento di Elettronica e Informazione Politecnico di Milano Italy

ISBN: (纸本)9781612849379

We propose an optimization-based framework to minimize the energy consumption in a sensor network when using an indoor localization system based on the combination of received signal strength (RSS) and pedestrian dead reckoning (PDR). The objective is to find the RSS localization frequency and the number of RSS measurements used at each localization round that jointly minimize the total consumed energy, while ensuring at the same time a desired accuracy in the localization result. The optimization approach leverages practical models to predict the localization error and the overall energy consumption for combined RSS-PDR localization systems. The performance of the proposed strategy is assessed through simulation, showing energy savings with respect to other approaches while guaranteeing a target accuracy. © 2011 IEEE.

关键词： Energy utilization

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A new positioning technique for RSS-Based localization based on a weighted least squares estimator

A new positioning technique for RSS-Based localization based...

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International Symposium on Wireless Communication Systems (ISWCS)

作者： Paula Tarrio Ana M. Bernardos Juan A. Besada Jose R. Casar Data Processing and Simulation Group Ciudad Universitaria Madrid Spain Data Processing and Simulation Group Universidad Politcnica de Madrid Madrid Spain

In this paper we propose the use of a weighted least squares estimator to calculate the position of a mobile node in RSS-based localization systems for ad hoc networks. This technique outperforms the traditional positioning algorithms in terms of localization accuracy and robustness to inaccuracy in the channel model. The performance of the method is shown both through numerical simulations and through some experiments with real data for a wireless sensor network and a WiFi network.

关键词： Least squares approximation Wireless sensor networks Numerical simulation Ad hoc networks Robustness Mobile ad hoc networks Radio frequency Hardware Position measurement Performance analysis

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A review on mobile applications for citizen emergency management

A review on mobile applications for citizen emergency manage...

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作者： Gómez, David Bernardos, Ana M. Portillo, Javier I. Tarrío, Paula Casar, José R. Data Processing and Simulation Group Dpt. Signals Systems and Radiocommunications School of Telecommunications Engineering Technical University of Madrid Av. Complutense 30 Madrid Spain

ISBN: (纸本)9783642380600

Mobile devices may be a powerful tool to help in case of emergency, not only for the person or people in danger but also for those ones giving assistance to them, professionally or not. In order to determine how mobile applications are currently being used in this area and the possibilities for innovation, this paper gathers the result of a review of about more than 250 applications commercially available. These applications have been featured to analyze their value proposition (e.g. main service goal, target user or pricing approach) and their operational features, with respect to their level of context-awareness and the discovery and notification of emergencies. Additionally, the paper proposes the functional design of a mobile application for Citizen Emergency Management, which takes advantage of the gap of the available offer. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Mobile computing

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LAURA - LocAlization and Ubiquitous monitoRing of pAtients for health care support

LAURA - LocAlization and Ubiquitous monitoRing of pAtients f...

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2010 IEEE 21st International Symposium on Personal, Indoor and Mobile Radio Communications Workshops, PIMRC 2010

作者： Redondi, Alessandro Tagliasacchi, Marco Cesana, Matteo Borsani, Luca Tarrío, Paula Salice, Fabio Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Data Processing and Simulation Group Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9781424491162

This works illustrates the LAURA system, which performs localization, tracking and monitoring of patients hosted at nursing institutes by exploiting a wireless sensor network based on the IEEE 801.15.4 (Zigbee) standard. We focus on the indoor personal localization module, which leverages a method based on received signal strength measurements, together with a particle filter to perform tracking of moving patients. We discuss the implementation and dimensioning of the localization and tracking system using commercial hardware, and we test the LAURA system in real environment, both with static and moving patients, achieving an average localization error lower than 2 m in 80% of the cases. The data sets containing the real measurements of received signal strengths collected during the experiments are made publicly available to enable reproducible research. ©2010 IEEE.

关键词： Wireless sensor networks

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Indoor augmented reality based on ultrasound localization systems

Indoor augmented reality based on ultrasound localization sy...

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作者： Gómez, David Tarrío, Paula Li, Juan Bernardos, Ana M. Casar, José R. Data Processing and Simulation Group Dpt. Signals Systems and Radiocommunications School of Telecommunications Engineering Technical University of Madrid Av. Complutense 30 Madrid Spain

ISBN: (纸本)9783642380600

Augmented reality applications are beginning to reach the general public due to the widespread use of smartphones and tablet devices. Most AR systems require the use of image processing techniques to superimpose the virtual information over the image of the real world. However, this may quickly consume the battery of the user's device. In this paper, we design and implement an AR system for indoor environments that relies on an external ultrasound localization system and on the inertial sensors embedded in the device to estimate the position and orientation of the user. The system was implemented on a tablet device, offers several functionalities, such as visualization of virtual objects and interaction with the virtual view, and aims at providing appropriate accuracy for a satisfactory user experience without the need of using costly vision-based techniques. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Augmented reality

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Fusion of RSS and inertial measurements for calibration-free indoor pedestrian tracking

Fusion of RSS and inertial measurements for calibration-free...

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International Conference on Information Fusion

作者： Paula Tarrío Juan A. Besada José R. Casar Data Processing and Simulation Group ETSI Telecomunicación Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9781479902842

RSS-based localization techniques are widely used in indoor environments to estimate the position of people or objects. Recent work proposes to combine this localization technique with a dead reckoning strategy (using inertial sensors on the person or object to be tracked) to improve the accuracy of the localization results and, at the same time, track the position of the user continuously. The RSS-based subsystem of most of the proposed hybrid systems rely on a time consuming calibration phase to build a radio map of the environment, which is used to find a correspondence between the RSS measurements and the position. However, due to the changing environmental dynamics, the behavior of the channel may change after some time, thus, recalibration processes are necessary to maintain the positioning accuracy. In order to avoid these calibration and re-calibration needs, this paper proposes to use a nearly calibration-free RSS channel modeling localization approach and fuse it with the inertial measurements through a Kalman filter. The proposed strategy is tested through numerical simulation and experimental tests, showing accuracy gains with respect to other strategies. Furthermore, the proposed method has a low deployment cost, as very little calibration is needed prior to the operation.

关键词： Sensors Kalman filters Mobile nodes Acceleration Accuracy Calibration

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Tracking filters using kinematic measurements

Tracking filters using kinematic measurements

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International Conference on Information Fusion

作者： Juan A. Besada Gonzalo de Miguel Andres Soto Jesus Garcia Herrero Simulation and Data Processing Group Universidad Politécnica de Madrid Madrid Spain Universidad Carlos III de Madrid Madrid Spain

ISBN: (纸本)9780662478300;0662478304

This paper describes two tracking filters based on the use of kinematic information (velocity, acceleration), in addition to usual position measurements. This kinematic information allows for more advanced filtering methods, reducing error especially on maneuvers. In the paper we will show two different Kalman filter exploiting this information, and compare them with regards to accuracy, computational load ... Mode S Enhanced Surveillance measures will be used as an example for the application of those filters.

关键词： Kinematics Acceleration Position measurement Velocity measurement Information filtering Information filters data processing Accelerometers Predictive models Aircraft

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