Related papers: Designing Path Planning Algorithms for Mobile Anch…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
Current outdoor localization techniques fail to provide the required accuracy for estimating the car's lane. In this paper, we present LaneQuest: a system that leverages the ubiquitous and low-energy inertial sensors available in commodity…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
The ability to predict, and thus react to, oncoming collisions among a set of mobile agents is a fundamental requirement for safe autonomous movement, both human and robotic. This paper addresses systems that use range measurements between…
Many localization algorithms use a spatiotemporal window of sensory information in order to recognize spatial locations, and the length of this window is often a sensitive parameter that must be tuned to the specifics of the application.…
Planning the movement of the sink to maximize the lifetime in wireless sensor networks is an essential problem of great research challenge and practical value. Many existing mobile sink techniques based on mathematical programming or…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
This paper considers N mobile nodes that move together in the vicinity of each other, whose initial poses as well as subsequent movements must be accurately tracked in real time with the assist of M(>=3) reference nodes. By engaging the…
Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…
This paper develops a new approach for robot motion planning and control in obstacle-laden environments that is inspired by fundamentals of fluid mechanics. For motion planning, we propose a novel transformation between motion space, with…
Wearable sensors have permeated into people's lives, ushering impactful applications in interactive systems and activity recognition. However, practitioners face significant obstacles when dealing with sensing heterogeneities, requiring…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
A bidirectional Ultra-Wideband (UWB) localization scheme is one of the three widely adopted design integration processes commonly used in time-based UWB positioning systems. The key property of bidirectional UWB localization is its ability…
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…
Fingerprinting is a popular indoor localization technique since it can utilize existing infrastructures (e.g., access points). However, its site survey process is a labor-intensive and time-consuming task, which limits the application of…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Accurate localization for mobile nodes has been an important and fundamental problem in underwater acoustic sensor networks (UASNs). The detection information returned from a mobile node is meaningful only if its location is known. In this…
Large available bandwidth in 60\,GHz band promises very high data rates -- in the order of Gb/s. However, high free-space path loss makes it necessary to employ beamforming capable directional antennas. When beamforming is used, the links…
It has been shown that cooperative localization is capable of improving both the positioning accuracy and coverage in scenarios where the global positioning system (GPS) has a poor performance. However, due to its potentially excessive…