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Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
Mobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFI propagation maps of the access points are modeled deterministically. However, this procedure does not take into…
The use of mobile sensors is of great relevance for a number of strategic applications devoted to monitoring critical areas where sensors can not be deployed manually. In these networks, each sensor adapts its position on the basis of a…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
Coverage is one of the fundamental issues in wireless sensor networks (WSNs). It reflects the ability of WSNs to detect the fields of interest. In a real sensor networks application, the detection area is always non-ideal and the terrain of…
This paper considers node localization in static sensor networks using range-only measurements. Similar to state- of-the-art algorithms, such as ECHO and DILOC, we rely on barycentric coordinates of the nodes to transform the non-convex…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…
Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…
Large infrastructure networks (e.g. for transportation and power distribution) require constant monitoring for failures, congestion, and other adversarial events. However, assigning a sensor to every link in the network is often infeasible…
In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly strongly depends on the network geometry. This motivates the problem of planning robot…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
Localization is a fundamental challenge for any wireless network of nodes, in particular when the nodes are mobile. We present an extension of the classical Multidimensional scaling (MDS) for an anchorless network of mobile nodes, wherein…
Indoor localization is a cornerstone of mobile services. Until now most of the research effort has focused on achieving sub-meter localization accuracy because many mobile applications depend on precise localization measurements. In some…
Determining whether nodes can be localized, called localizability detection, is essential for wireless sensor networks (WSNs). This step is required for localizing nodes, achieving low-cost deployments, and identifying prerequisites in…