arXiv subjects

Konstantinos Gounis

Publications and source records attributed to Konstantinos Gounis.

3 recordsLinked to original sources

arXiv2026

When Simultaneous Localization and Mapping Meets Wireless Communications: A Survey

This paper surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to wireless signal propagation, geometric channel modeling, and radio frequency (RF)-based localization and sensing. In addition to this, we show image processing techniques that can detect landmarks, proactively predicting optimal paths for wireless channels. Several dimensions are considered, including the prerequisites, techniques, background, and future directions and challenges of the intersection between SLAM and wireless communications. We analyze estimation and control approaches such as Bayesian filters, feature-based pose estimation, perception-aware motion control, spatial methods for signal processing such as vector fields, and key technological aspects. We expose techniques and items towards enabling a highly effective retrieval of the autonomous robot state. Among other interesting findings, we observe that monocular V-SLAM would benefit from RF relevant information, as the latter can serve as a proxy for the scale ambiguity resolution. Conversely, we find that wireless communications in the context of 5G and beyond can potentially benefit from visual odometry that is central in SLAM. Moreover, we examine other sources besides the camera for SLAM and describe the twofold relation with wireless communications. Finally, integrated solutions performing joint communications and SLAM appear to be in their infancy: theoretical and practical advancements are required to add higher-level localization and semantic perception capabilities to RF and multi-antenna technologies.

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arXiv2024

UAV Active Perception and Motion Control for Improving Navigation Using Low-Cost Sensors

In this study a model pipeline is proposed that combines computer vision with control-theoretic methods and utilizes low cost sensors. The proposed work enables perception-aware motion control for a quadrotor UAV to detect and navigate to objects of interest such as wind turbines and electric towers. The distance to the object of interest was estimated utilizing RGB as the primary sensory input. For the needs of the study, the Microsoft AirSim simulator was used. As a first step, a YOLOv8 model was integrated providing the basic position setpoints towards the detection. From the YOLOv8 inference, a target yaw angle was derived. The subsequent algorithms, combining performant in computational terms computer vision methods and YOLOv8, actively drove the drone to measure the height of the detection. Based on the height, an estimate of the depth was retrieved. In addition to this step, a convolutional neural network was developed, namely ActvePerceptionNet aiming at active YOLOv8 inference. The latter was validated for wind turbines where the rotational motion of the propeller was found to affect object confidence in a near periodical fashion. The results of the simulation experiments conducted in this study showed efficient object height and distance estimation and effective localization.

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arXiv2021

Intelligent Momentary Assisted Control for Autonomous Emergency Braking

Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we design a safety distance-based hierarchical AEB control system constituted of a high-level Rule-Based Supervisory control module, an intermediate-level switching algorithm and a low-level control module. The Rule Based supervisor determines the required deceleration command that is fed to the low-level control module via the switching algorithm. In the low-level, two wheel slip control algorithms were developed, a Robust Sliding Mode controller and a Gain-Scheduled Linear Quadratic Regulator. For the needs of this control design, a non-linear dynamic vehicle model was implemented whereas a constant tire-road friction coefficient was considered. The proposed control system was validated in Simulink, assuming a straight-line braking maneuver on a flat dry road. The simulation results demonstrated satisfactory emergency braking performance with full collision avoidance in both proposed control system combinations.

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