Related papers: Cluster-based Position Tracking of Mobile Sensors
We consider the problem of tracking a group of mobile nodes with limited available computational and energy resources given noisy RSSI measurements and position estimates from group members. The multilateration solutions are known for…
A new technique is presented to design energy-efficient large-scale tracking systems based on mobile clustering. The new technique optimizes the formation of mobile clusters to minimize energy consumption in large-scale tracking systems.…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
Energy efficiency becomes increasingly important due to the limited battery capacity in wireless devices while at the same time user throughput requirements are relentlessly increasing. In this paper, we study an energy efficient…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
The estimation of spatiotemporal data from limited sensor measurements is a required task across many scientific disciplines. The sensor selection problem, which aims to optimize the placement of sensors, leverages innovations in greedy…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
Current state-of-the-art autonomous driving vehicles mainly rely on each individual sensor system to perform perception tasks. Such a framework's reliability could be limited by occlusion or sensor failure. To address this issue, more…
Organization, scalability and routing have been identified as key problems hindering viability and commercial success of mobile ad hoc networks. Clustering of mobile nodes among separate domains has been proposed as an efficient approach to…
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…
Wireless mobile sensor networks (WMSNs) are groups of mobile sensing agents with multi-modal sensing capabilities that communicate over wireless networks. WMSNs have more flexibility in terms of deployment and exploration abilities over…
This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance,…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
We propose a mobility-assisted on-demand routing algorithm for mobile ad hoc networks in the presence of location errors. Location awareness enables mobile nodes to predict their mobility and enhances routing performance by estimating link…
We have proposed a model based upon flocking on a complex network, and then developed two clustering algorithms on the basis of it. In the algorithms, firstly a \textit{k}-nearest neighbor (knn) graph as a weighted and directed graph is…
This paper presents a method for future motion prediction of multi-agent systems by including group formation information and future intent. Formation of groups depends on a physics-based clustering method that follows the agglomerative…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
We present a new approach to the cooperative localisation problem by applying the theory of minimum energy filtering. We consider the problem of estimating the pose of a group of mobile robots in an environment where robots can perceive…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
A critical need in Mobile Wireless Sensor Network (MWSN) is to achieve energy efficiency during routing as the sensor nodes have scarce energy resource. The nodes' mobility in MWSN poses a challenge to design an energy efficient routing…