Related papers: Simultaneous Distributed Sensor Self-Localization …
Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
Scalable and decentralized algorithms for Cooperative Self-localization (CS) of agents, and Multi-Target Tracking (MTT) are important in many applications. In this work, we address the problem of Simultaneous Cooperative Self-localization…
Through the last decade, we have witnessed a surge of Internet of Things (IoT) devices, and with that a greater need to choreograph their actions across both time and space. Although these two problems, namely time synchronization and…
It has been shown that the channel state information (CSI) of a Wi-Fi system can be exploited to localize Wi-Fi devices or track trajectory of a moving target. In the existing literature, both sensing tasks are treated separately and some…
We show that the sensor self-localization problem can be cast as a static parameter estimation problem for Hidden Markov Models and we implement fully decentralized versions of the Recursive Maximum Likelihood and on-line…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
Cooperative spectrum sensing has been shown to yield a significant performance improvement in cognitive radio networks. In this paper, we consider distributed cooperative sensing (DCS) in which secondary users (SUs) exchange data with one…
In this paper, consensus-based Kalman filtering is extended to deal with the problem of joint target tracking and sensor self-localization in a distributed wireless sensor network. The average weighted Kullback-Leibler divergence, which is…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
Distributed multi-target tracking (DMTT) is addressed for sensors having different fields of view (FoVs). The proposed approach is based on the idea of fusing the posterior Probability Hypotheses Densities (PHDs) generated by the sensors on…
This paper addresses distributed registration of a sensor network for multitarget tracking. Each sensor gets measurements of the target position in a local coordinate frame, having no knowledge about the relative positions (referred to as…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
Simultaneous localization and tracking (SLAT) in sensor networks aims to determine the positions of sensor nodes and a moving target in a network, given incomplete and inaccurate range measurements between the target and each of the…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
This paper considers cooperative spectrum sensing in Cognitive Radios. In our previous work we have developed DualSPRT, a distributed algorithm for cooperative spectrum sensing using Sequential Probability Ratio Test (SPRT) at the Cognitive…
The aim of the present dissertation is to address distributed tracking over a network of heterogeneous and geographically dispersed nodes (or agents) with sensing, communication and processing capabilities. Tracking is carried out in the…
In this paper, we present a novel distributed expectation propagation algorithm for multiple sensors, multiple objects tracking in cluttered environments. The proposed framework enables each sensor to operate locally while collaboratively…