Related papers: Cluster-based Position Tracking of Mobile Sensors
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
In this paper, we consider a class of sensor networks where the data is not required in real-time by an observer; for example, a sensor network monitoring a scientific phenomenon for later play back and analysis. In such networks, the data…
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…
In this paper, a distributed dual-quaternion multiplicative extended Kalman filter for the estimation of poses and velocities of individual satellites in a fleet of spacecraft is analyzed. The proposed algorithm uses both absolute and…
Cooperation in cellular networks has been recently suggested as a promising scheme to improve system performance. In this work, clusters are formed based on the Mutually Nearest Neighbour relation, which defines which stations cooperate in…
Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little attention has been paid toward advancing the underlying…
Decentralized cooperative resource allocation schemes for robotic swarms are essential to enable high reliability in high throughput data exchanges. These cooperative schemes require control signaling with the aim to avoid half-duplex…
In large groups, every collaborative act requires balancing two pressures: the need to achieve behavioural synchrony and the need to keep free riding to a minimum. This paper introduces a model of collaboration that requires both…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…
Large-scale distributed computing systems often contain thousands of distributed nodes (machines). Monitoring the conditions of these nodes is important for system management purposes, which, however, can be extremely resource demanding as…
Caching at mobile devices and leveraging cooperative device-to-device (D2D) communications are two promising approaches to support massive content delivery over wireless networks while mitigating the effects of interference. To show the…
We consider the resource allocation problem in cooperative wireless networks wherein nodes perform mutual information accumulation. We consider a unicast setting and arbitrary arrival processes at the source node. Source arrivals can be…
Different collective behaviors emerging from the unknown have been examined in networks of mobile agents in recent years. Mobile systems, far from being limited to modeling and studying various natural and artificial systems in motion and…
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot…
This paper considers the data association problem for multi-target tracking. Multiple hypothesis tracking is a popular algorithm for solving this problem but it is NP-hard and is is quite complicated for a large number of targets or for…
A fundamental problem in collaborative sensing lies in providing an accurate prediction of critical events (e.g., hazardous environmental condition, urban abnormalities, economic trends). However, due to the resource constraints,…
Objective: The main objective of this paper is to construct a distributed clustering algorithm based upon spatial data correlation among sensor nodes and perform data accuracy for each distributed cluster at their respective cluster head…
Clustering is crucial for many computer vision applications such as robust tracking, object detection and segmentation. This work presents a real-time clustering technique that takes advantage of the unique properties of event-based vision…
The increasing usage of wireless sensor networks in human life is an indication of the high importance of this technology. Wireless sensor networks have a vast majority of applications in monitoring and care which are known as target…