Related papers: Cooperative Joint Localization and Clock Synchroni…
We consider the estimation of a signal from the knowledge of its noisy linear random Gaussian projections. A few examples where this problem is relevant are compressed sensing, sparse superposition codes, and code division multiple access.…
Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally require centralised control of all devices which is difficult to…
When studying interacting systems, computing their statistical properties is a fundamental problem in various fields such as physics, applied mathematics, and machine learning. However, this task can be quite challenging due to the…
This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier phase measurements which significantly increases the…
Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…
We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…
Cooperative multi-monostatic sensing enables accurate positioning of passive targets by combining the sensed environment of multiple base stations (BS). In this work, we propose a novel fusion algorithm that optimally finds the weight to…
This paper proposes a novel time synchronization protocol inspired by the adaptive Newton search algorithm. The clock model of nodes are modeled as an adaptive filter and a pairwise steady state and convergence analyses are presented. A…
We propose a distributed joint localization and tracking algorithm using a message passing framework, for multiple-input multiple-output radars. We employ the mean field approach to derive an iterative algorithm. The obtained algorithm…
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…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
We report preliminary results of a simulation study on the multi-hop extension of the recently-proposed energy-efficient wireless sensor network time synchronization scheme based on time-translating gateways. Unlike the single-hop case, in…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
We propose a framework for the derivation and evaluation of distributed iterative algorithms for receiver cooperation in interference-limited wireless systems. Our approach views the processing within and collaboration between receivers as…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
During the last years the transfer of frequency signals through optical fibers has shown ultra low instabilities in various configurations. The outstanding experimental results of such point-to-point connections is motivation to develop a…
Average consensus theory is intensely popular for building time synchronization in wireless sensor network (WSN). However, the average consensus-based time synchronization algorithm is based on iteration that pose challenges for efficiency,…
This paper presents an estimation method for time-varying graph signals among multiple sub-networks. In many sensor networks, signals observed are associated with nodes (i.e., sensors), and edges of the network represent the inter-node…
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication. Our Robot Web solution is based on Gaussian Belief…
A key challenge in spatial statistics is the analysis for massive spatially-referenced data sets. Such analyses often proceed from Gaussian process specifications that can produce rich and robust inference, but involve dense covariance…