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This manuscript is a preliminary pre-print version of a journal submission by the authors, revisiting the problem of range measurement based localization of a signal source or a sensor. The major geometric difficulty of the problem comes…
Autonomous systems can be used to search for sparse signals in a large space; e.g., aerial robots can be deployed to localize threats, detect gas leaks, or respond to distress calls. Intuitively, search algorithms may increase efficiency by…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Indoor localization is a supporting technology for a broadening range of pervasive wireless applications. One promis- ing approach is to locate users with radio frequency fingerprints. However, its wide adoption in real-world systems is…
One of the major issues in Wireless Body Area Sensor Networks (WBASNs) is efficient localization. There are various techniques for indoor and outdoor environments to locate a person. This study evaluating and compares performance of…
Accurate and reliable localization is crucial for various wireless communication applications. Numerous studies have proposed accurate localization methods using hybrid received signal strength (RSS) and angle of arrival (AOA) measurements.…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Precise localization and tracking of moving non-collaborative persons and objects using a network of ultra-wideband (UWB) radar nodes has been shown to represent a practical and effective approach. In UWB radar sensor networks (RSNs),…
Wireless sensor networks consisting of great number of cheap and tiny sensor nodes which are used for military environment controlling, natural events recording, traffic monitoring, robot navigation, and etc. Such a networks encounter with…
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,…
With the rapid increase in mobile subscribers, there is a drive towards achieving higher data rates, prompting the use of higher frequencies in future wireless communication technologies. Wave propagation channel modeling for these…
Fine localization is a crucial task for autonomous vehicles. Although many algorithms have been explored in the literature for this specific task, the goal of getting accurate results from commodity sensors remains a challenge. As…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
Node localization plays an important role in many practical applications of wireless underground sensor networks (WUSNs), such as finding the locations of earthquake epicenters, underground explosions, and microseismic events in mines. It…
The interconnectedness of all things is continuously expanding which has allowed every individual to increase their level of interaction with their surroundings. Internet of Things (IoT) devices are used in a plethora of context-aware…
In this paper, we propose rWiFiSLAM, an indoor localisation system based on WiFi ranging measurements. Indoor localisation techniques play an important role in mobile robots when they cannot access good quality GPS signals in indoor…