Related papers: On a registration-based approach to sensor network…
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…
Sensor network localization problem is to determine the position of the sensor nodes in a network given pairwise distance measurements. Such problem can be formulated as a polynomial minimization via the least squares method. This paper…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
With the recent development of technology, wireless sensor networks are becoming an important part of many applications such as health and medical applications, military applications, agriculture monitoring, home and office applications,…
We consider the problem where a network of sensors has to detect the presence of targets at any of $n$ possible locations in a finite region. All such locations may not be occupied by a target. The data from sensors is fused to determine…
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization problem in dynamic networks where the positions of the agents…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Graph rigidity theory is an important tool for examining the solvability of sensor network localization (SNL) problems, and ensuring global convergence of localization algorithms. Along this direction, diverse measurements such as signed…
This paper addresses distributed registration of a sensor network for multitarget tracking. Each sensor gets measurements of the target position in a local coordinate frame, having no knowledge about the relative positions (referred to as…
Many localization algorithms and systems have been developed by means of wireless sensor networks for both indoor and outdoor environments. To achieve higher localization accuracy, extra hardware equipments are utilized by most of the…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
This paper describes a method of global localization based on graph-theoretic association of instances between a query and the prior map. The proposed framework employs correspondence matching based on the maximum clique problem (MCP). The…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…
Wireless sensor networks (WSNs) have gained researchers' attention in the last several years. Small sensors powered by miniaturized microprocessors are capable of supporting several applications for civil and military domains. Determining…
Hybrid localization in GNSS-challenged environments using measured ranges and angles is becoming increasingly popular, in particular with the advent of multimodal communication systems. Here, we address the hybrid network localization…
We study a stealthy range-sensor placement problem where a set of range sensors are to be placed with respect to targets to effectively localize them while maintaining a degree of stealthiness from the targets. This is an open and…