Related papers: Simultaneous Distributed Sensor Self-Localization …
We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel…
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…
This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot…
Objective: The main objective of this paper is to construct a distributed clustering algorithm based upon spatial data correlation among sensor nodes and perform data accuracy for each distributed cluster at their respective cluster head…
Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With…
We propose a distributed joint localization and tracking algorithm using a message passing framework, for multiple-input multiple-output radars. We employ the mean field approach to derive an iterative algorithm. The obtained algorithm…
Most recent works on multi-target tracking with multiple cameras focus on centralized systems. In contrast, this paper presents a multi-target tracking approach implemented in a distributed camera network. The advantages of distributed…
We present DCOOL-NET, a scalable distributed in-network algorithm for sensor network localization based on noisy range measurements. DCOOL-NET operates by parallel, collaborative message passing between single-hop neighbor sensors, and…
In this paper, we consider a distributed detection problem for a censoring sensor network where each sensor's communication rate is significantly reduced by transmitting only "informative" observations to the Fusion Center (FC), and…
Distributed integrated sensing and communication (DISAC) systems are key enablers for 6G networks, offering the capability to jointly track multiple targets using spatially distributed base stations (BSs). A fundamental challenge in DISAC…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
In the field of autonomous driving or robotics, simultaneous localization and mapping (SLAM) and multi-object tracking (MOT) are two fundamental problems and are generally applied separately. Solutions to SLAM and MOT usually rely on…
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…
This thesis studies range-based WSN localization problem in 3D environments that induce coplanarity. In most real-world applications, even though the environment is 3D, the grounded sensor nodes are usually deployed on 2D planar surfaces.…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
Low Earth orbit (LEO) satellite constellations are rapidly becoming essential enablers of next-generation wireless systems, offering global broadband access, high-precision localization, and reliable sensing beyond terrestrial coverage.…
In this paper we tackle distributed detection of a non-cooperative target with a Wireless Sensor Network (WSN). When the target is present, sensors observe an unknown random signal with amplitude attenuation depending on the distance…
We propose a novel distributed expectation maximization (EM) method for non-cooperative RF device localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target.…