Related papers: VRAC: Theory #1
Euclidean distance geometry is the study of Euclidean geometry based on the concept of distance. This is useful in several applications where the input data consists of an incomplete set of distances, and the output is a set of points in…
We consider the problem of embedding the nodes of a hypergraph into Euclidean space under the assumption that the interactions arose through closeness to unknown hyperedge centres. In this way, we tackle the inverse problem associated with…
Geographic routing consists in using the position information of nodes to assist in the routing process, and has been a widely studied subject in sensor networks. One of the outstanding challenges facing geographic routing has been its…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…
Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Embedding nodes of a large network into a metric (e.g., Euclidean) space has become an area of active research in statistical machine learning, which has found applications in natural and social sciences. Generally, a representation of a…
In greedy geometric routing, messages are passed in a network embedded in a metric space according to the greedy strategy of always forwarding messages to nodes that are closer to the destination. We show that greedy geometric routing…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
Determining whether nodes can be localized, called localizability detection, is essential for wireless sensor networks (WSNs). This step is required for localizing nodes, achieving low-cost deployments, and identifying prerequisites in…
Routing in Delay Tolerant Networks (DTNs) benefits considerably if one can take advantage of knowledge concerning node mobility. The main contribution of this paper is the definition of a generic routing scheme for DTNs using a…
The study of complex networks is a significant development in modern science, and has enriched the social sciences, biology, physics, and computer science. Models and algorithms for such networks are pervasive in our society, and impact…
We tackle the challenge of reliably determining the geo-location of nodes in decentralized networks, considering adversarial settings and without depending on any trusted landmarks. In particular, we consider active adversaries that control…
Geographic routing is becoming the protocol of choice for many sensor network applications. The current state of the art is unsatisfactory: some algorithms are very efficient, however they require a preliminary planarization of the…