Related papers: Designing Path Planning Algorithms for Mobile Anch…
We study a stealthy range-sensor placement problem where a set of range sensors are to be placed with respect to targets to effectively localize them while maintaining a degree of stealthiness from the targets. This is an open and…
Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…
We consider a registration-based approach for localizing sensor networks from range measurements. This is based on the assumption that one can find overlapping cliques spanning the network. That is, for each sensor, one can identify…
In wireless location-aware networks, mobile nodes (agents) typically obtain their positions through ranging with respect to nodes with known positions (anchors). Transmit power allocation not only affects network lifetime, throughput, and…
We are motivated by the need, in some applications, for impromptu or as-you-go deployment of wireless sensor networks. A person walks along a line, making link quality measurements with the previous relay at equally spaced locations, and…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
Wireless sensor networks are an important technology for making distributed autonomous measures in hostile or inaccessible environments. Among the challenges they pose, the way data travel among them is a relevant issue since their…
This paper attempts to answer a question: for a given traversal area, how to quantify the geometric impact of anchor placement on localization performance. We present a theoretical framework for quantifying the anchor placement impact. An…
This paper analyzes the localization outage probability (LOP), the probability that the position error exceeds a given threshold, in randomly deployed wireless networks. Two typical cases are considered: a mobile agent uses all the…
Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…
Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
We address path-planning for a mobile agent to navigate in an unknown environment with minimum exposure to a spatially and temporally varying threat field. The threat field is estimated using pointwise noisy measurements from a mobile…
Current and future wireless applications strongly rely on precise real-time localization. A number of applications such as smart cities, Internet of Things (IoT), medical services, automotive industry, underwater exploration, public safety,…
In this paper we study the problem of tracking an object moving randomly through a network of wireless sensors. Our objective is to devise strategies for scheduling the sensors to optimize the tradeoff between tracking performance and…
In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…
We consider the localization problem of multiple wideband sources in a multi-path environment by coherently taking into account the attenuation characteristics and the time delays in the reception of the signal. Our proposed method leaves…