Related papers: A New Distributed Localization Method for Sensor N…
Fundamental limits on the error probabilities of a family of decentralized detection algorithms (eg., the social learning rule proposed by Lalitha et al. over directed graphs are investigated. In decentralized detection, a network of nodes…
Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This paper, in contrast, considers single time-scale distributed estimation via a sensor network subject to…
How to self-localize large teams of underwater nodes using only noisy range measurements? How to do it in a distributed way, and incorporating dynamics into the problem? How to reject outliers and produce trustworthy position estimates? The…
Distributed systems serve as a key technological infrastructure for monitoring diverse systems across space and time. Examples of their widespread applications include: precision agriculture, surveillance, ecosystem and physical…
A distributed detection scheme where the sensors transmit with constant modulus signals over a Gaussian multiple access channel is considered. The deflection coefficient of the proposed scheme is shown to depend on the characteristic…
In this paper we consider the problem of monitoring detecting separation of agents from a base station in robotic and sensor networks. Such separation can be caused by mobility and/or failure of the agents. While separation/cut detection…
In this paper, given a random uniform distribution of sensor nodes on a 2-D plane, a fast self-organized distributed algorithm is proposed to find the maximum number of partitions of the nodes such that each partition is connected and…
In this paper, a set of sensors is constructed via the pinning observability approach with the help of observability criteria given in [1] and [2], in order to make the given Boolean network (BN) be observable. Given the assumption that…
Location awareness is a critical issue in wireless sensor network applications. For more accurate location estimation, the two issues should be considered extensively: 1) how to sufficiently utilize the connection information between…
This paper deals with distributed algorithms for monitoring the topology of a dynamic group of mobile wireless sensor networks. We propose two major extensions of a distributed static group consensus algorithm and an experimental…
In this paper, we discuss a class of distributed detection algorithms which can be viewed as implementations of Bayes' law in distributed settings. Some of the algorithms are proposed in the literature most recently, and others are first…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…
A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…
This paper considers target tracking based on a beacon signal's time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance…
The problem of distributed or decentralized detection and estimation in applications such as wireless sensor networks has often been considered in the framework of parametric models, in which strong assumptions are made about a statistical…
We consider the problem of distributed estimation of an unknown deterministic scalar parameter (the target signal) in a wireless sensor network (WSN), where each sensor receives a single snapshot of the field. We assume that the observation…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
Accurate indoor node localization is critical for practical Wireless Sensor Network (WSN) applications, as Global Positioning System (GPS) fails to provide reliable Line-of-Sight (LoS) conditions in most indoor environments. Real-world…