Related papers: Optimal Sensor Placement for Target Localization a…
This paper focuses on learning efficient sensor allocations that ensure observability of unknown high-dimensional linear systems using only a small number of sensors. Existing methods either require an impractically large number of sensors…
We present a multi-stage optimization method for efficient sensor deployment in traffic surveillance scenarios. Based on a genetic optimization scheme, our algorithm places an optimal number of roadside sensors to obtain full road coverage…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
Accurate source localization in Multi-Platform Radar Networks (MPRNs) benefits from exploiting both range and angle measurements under robust estimation. In this paper, we propose a robust Euclidean distance matrix (EDM) optimization model…
Multi-platform radar networks (MPRNs) are an emerging sensing technology due to their ability to provide improved surveillance capabilities over plain monostatic and bistatic systems. The design of advanced detection, localization, and…
We study set-valued decision rules in which performance is defined by the inclusion of the top-$p$ hypotheses, rather than only the single best or true hypothesis. This criterion is motivated by sensor selection for target tracking, where…
SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
LiDAR sensors are becoming one of the most essential sensors in achieving full autonomy for self driving cars. LiDARs are able to produce rich, dense and precise spatial data, which can tremendously help in localizing and tracking a moving…
The problem of searching for an unknown object occurs in important applications ranging from security, medicine and defense. Sensors with the capability to process information rapidly require adaptive algorithms to control their search in…
The coverage problem in wireless sensor networks (WSNs) can be generally defined as a measure of how effectively a network field is monitored by its sensor nodes. This problem has attracted a lot of interest over the years and as a result,…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…
The small amount of measurements in distribution grids makes their monitoring more difficult. Topological observability may not be possible, and thus, pseudo-measurements are needed to perform state estimation, which is required to control…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…