Related papers: Localization of networked robot systems subject to…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…

The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…

This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…

We consider a distributed estimation method in a setting with heterogeneous streams of correlated data distributed across nodes in a network. In the considered approach, linear models are estimated locally (i.e., with only local data)…

In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds…

We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over the robot state is heavily dependent on a proper tuning of…

This paper investigates sensor scheduling for state estimation of complex networks over shared transmission channels. For a complex network of dynamical systems, referred to as nodes, a sensor network is adopted to measure and estimate the…

The communication channels used to convey information between the components of wireless networked control systems (WNCSs) are subject to packet losses due to time-varying fading and interference. The WNCSs with missing packets can be…

In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…

We consider a dynamic vehicle routing problem in wireless networks where messages arriving randomly in time and space are collected by a mobile receiver (vehicle or a collector). The collector is responsible for receiving these messages via…

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…

We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

A network is called localizable if the positions of all the nodes of the network can be computed uniquely. If a network is localizable and embedded in plane with generic configuration, the positions of the nodes may be computed uniquely in…

We consider the load balancing problem in large-scale heterogeneous systems with multiple dispatchers. We introduce a general framework called Local-Estimation-Driven (LED). Under this framework, each dispatcher keeps local (possibly…

This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…

The ability of a sensor node to determine its physical location within a network (Localization) is of fundamental importance in sensor networks. Interpretating data from sensors will not be possible unless the context of the data is known;…