Related papers: Cooperative Simultaneous Localization and Synchron…
We introduce the framework of cooperative simultaneous localization and tracking (CoSLAT), which provides a consistent combination of cooperative self-localization (CSL) and distributed target tracking (DTT) in sensor networks without a…
Localization and synchronization are very important in many wireless applications such as monitoring and vehicle tracking. Utilizing the same time of arrival (TOA) measurements for simultaneous localization and synchronization is…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
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…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these…
We propose a hybrid message passing method for distributed cooperative localization and tracking of mobile agents. Belief propagation and mean field message passing are employed for, respectively, the motion-related and measurement-related…
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…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
A consistent spatial-temporal coordination across multiple agents is fundamental for collaborative perception, which seeks to improve perception abilities through information exchange among agents. To achieve this spatial-temporal…
This paper explores the use of factor graphs as an inference and analysis tool for Bayesian peer-to-peer decentralized data fusion. We propose a framework by which agents can each use local factor graphs to represent relevant partitions of…
This paper presents a factor graph formulation and particle-based sum-product algorithm (SPA) for robust sequential localization in multipath-prone environments. The proposed algorithm jointly performs data association, sequential…
Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
In the field of Multi-Agent Systems (MAS), known for their openness, dynamism, and cooperative nature, the ability to trust the resources and services of other agents is crucial. Trust, in this setting, is the reliance and confidence an…
Cooperative localization (CL) is an important technology for innovative services such as location-aware communication networks, modern convenience, and public safety. We consider wireless networks with mobile agents that aim to localize…
In this dissertation, we investigate the issue of robust localization in swarms of heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus is the development of filter-based and decoupled estimators under…
Sensing and imaging with distributed radio infrastructures (e.g., distributed MIMO, wireless sensor networks, multistatic radar) rely on knowledge of the positions, orientations, and clock parameters of distributed apertures. We extend a…