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It is observed that some communication situations fall into the large alphabet setting, in which the number of channel parameters and the number of channel uses are both large. To model such situations, we consider Discrete Memoryless Channels (DMCs) in which the input and output alphabet sizes increase along with the blocklength n. For known channels, we show that reliable communication at the sequence...
This paper presents a localization system for mobile robots that are able to navigate autonomously in industrial environments like factory and exhibition halls. Previous approaches show that ceiling structures like beams, pipes and lighting installation are well-suited for self-localization in large halls. With this paper we describe how to use ceiling structures, measured with a 3D laser range sensor,...
This paper introduces a localization based on GPS and laser measurements for urban and non-urban outdoor environments. In this approach, the GPS pose is Kalman filtered using wheel odometry and inertial data and tightly integrated into a Monte Carlo localization based on 3D laser range data and a line feature reference map. By applying to this kind of sensor fusion, global localization as well as...
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