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Target localization is a critical task in various applications, such as search and rescue, surveillance, and wireless sensor networks. When a target emits a radio frequency (RF) signal, spatially distributed sensors can collect signal…
The location of a robot is a key aspect in the field of mobile robotics. This problem is particularly complex when the initial pose of the robot is unknown. In order to find a solution, it is necessary to perform a global localization. In…
This paper addresses the problem of distributed event localization using noisy range measurements with respect to sensors with known positions. Event localization is fundamental in many wireless sensor network applications such as homeland…
The localization problem in a wireless sensor network is to determine the coordination of sensor nodes using the known positions of some nodes (called anchors) and corresponding noisy distance measurements. There is a variety of different…
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 challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier -…
We introduce WiCluster, a new machine learning (ML) approach for passive indoor positioning using radio frequency (RF) channel state information (CSI). WiCluster can predict both a zone-level position and a precise 2D or 3D position,…
This paper presents a unified framework for robust three-dimensional (3-D) source localization using a network of sensors equipped with one-dimensional (1-D) linear arrays. While such arrays offer practical advantages in terms of cost and…
Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
Being able to accurately locate wireless devices, while guaranteeing high-level of security against spoofing attacks, benefits all participants in the localization chain (e.g., end users, network operators, and location service providers).…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
Indoor localization systems are most commonly based on Received Signal Strength Indicator (RSSI) measurements of either WiFi or Bluetooth-Low-Energy (BLE) beacons. In such systems, the two most common techniques are trilateration and…
This paper considers the problem of optimally deploying omnidirectional sensors, with potentially limited sensing radius, in a network-like environment. This model provides a compact and effective description of complex environments as well…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
In future wireless communication networks, existing active localization will gradually evolve into more sophisticated (passive) sensing functionalities. One main enabler for this process is the merging of information collected from the…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…