Related papers: Designing Path Planning Algorithms for Mobile Anch…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
Location is one of the basic information required for underwater optical wireless sensor networks (UOWSNs) for different purposes such as relating the sensing measurements with precise sensor positions, enabling efficient geographic routing…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
We present DynamicSLAM: an indoor localization technique that eliminates the need for the daunting calibration step. DynamicSLAM is a novel Simultaneous Localization And Mapping (SLAM) framework that iteratively acquires the feature map of…
The availability of positional information is of great importance in many commercial, governmental, and military applications. Localization is commonly accomplished through the use of radio communication between mobile devices (agents) and…
For data sets retrieved from wireless sensors to be insightful, it is often of paramount importance that the data be accurate and also location stamped. This paper describes a maximum-likelihood based multihop localization algorithm called…
Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magnetic-based navigation (MagNav) offers a robust solution by…
Given a line barrier and a set of mobile sensors distributed in the plane, the Minimizing Maximum Sensor Movement problem (MMSM) for \textcolor{black}{line barrier coverage} is to compute relocation positions for the sensors in the plane…
Wireless localization is a key requirement for many applications. It concerns position estimation of mobile nodes (agents) relative to fixed nodes (anchors) from wireless channel measurements. Cooperative localization is an advanced concept…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
The location determination in obstructed area can be very challenging especially if Global Positioning System are blocked. Users will find it difficult to navigate directly on-site in such condition, especially indoor car park lot or…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
Received signal strength (RSS)-based wireless localization is easy to implement at low cost. In practice,exact positions of anchors may not be available. This paper focuses on determining the location of a source in the presence of…
In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…
In optimizing the topology of wireless networks built of a dynamic set of spatially embedded agents, there are many trade-offs to be dealt with. The network should preferably be as small (in the sense that the average, or maximal,…
Smartphones have become a popular tool for indoor localization and position estimation of users. Existing solutions mainly employ Wi-Fi, RFID, and magnetic sensing techniques to track movements in crowded venues. These are highly sensitive…
We propose an algorithm for the Wireless Sensor Network localization problem, which is based on the well-known algorithmic framework of Alternating Minimization. We start with a non-smooth and non-convex minimization, and transform it into…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…