Related papers: Obstacle Constrained Total Area Coverage in Wirele…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
This paper studies the omnidirectional sensor-placement problem (OSPP), which involves placing static sensors in a continuous 2D environment to achieve a user-defined coverage requirement while minimizing sensor count. The problem is…
This work investigates the fundamental limits of \emph{perfect} covert communication assisted by an Intelligent Reflecting Surface (IRS). We first characterize the necessary and sufficient conditions for perfect covertness, defined as zero…
Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
The paper presents a distributed algorithm, called Prediction-based Opportunistic Sensing for Resilient and Efficient Sensor Networks (POSE.R), where the sensor nodes utilize predictions of the targets positions to probabilistically control…
We propose an algorithm which produces a randomized strategy reaching optimal data propagation in wireless sensor networks (WSN).In [6] and [8], an energy balanced solution is sought using an approximation algorithm. Our algorithm improves…
We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained by summing the intensities of lidar point clouds that lie…
Optimal sensor placement (SP) usually minimizes an impact measure, such as the amount of contaminated water or the number of inhabitants affected before detection. The common choice is to minimize the minimum detection time (MDT) averaged…
In this work, we investigate the capacity allocation problem in the energy harvesting wireless sensor networks (WSNs) with interference channel. For the fixed topologies of data and energy, we formulate the optimization problem when the…
We propose a localization algorithm for wireless sensor networks, which is simple in design, does not involve significant overhead and yet provides acceptable position estimates of sensor nodes. The algorithm uses settled nodes as beacon…
In this paper, we consider a novel and robust maximum likelihood approach to localizing radiation sources with unknown statistics of the source signal strength. The result utilizes the smallest number of sensors required theoretically to…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
A Semidefinite Programming (SDP) relaxation is an effective computational method to solve a Sensor Network Localization problem, which attempts to determine the locations of a group of sensors given the distances between some of them [11].…
The emerging technology of wireless sensor network (WSN) is expected to provide a broad range of applications, such as battlefield surveillance, environmental monitoring, smart spaces and so on. The coverage problem is a fundamental issue…
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…
This paper proposes a cascade blockage model for analyzing the vision that a user has of a wireless network. This model, inspired by the classical multiplicative cascade models, has a radial structure meant to analyze blockages seen by the…
It is well established that the performance of reconfigurable intelligent surface (RIS)-assisted systems critically depends on the optimal placement of the RIS. Previous works consider either simple coverage maximization or simultaneous…
Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains…
An important problem in wireless sensor networks is to find the minimal number of randomly deployed sensors making a network connected with a given probability. In practice sensors are often deployed one by one along a trajectory of a…