Related papers: Cluster-based Position Tracking of Mobile Sensors

Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requires deployment of substantial infrastructure (infrared…

Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…

Precise user localization and tracking enhances energy-efficient and ultra-reliable low latency applications in the next generation wireless networks. In addition to computational complexity and data association challenges with…

Prolonged network lifetime, scalability and efficient load balancing are essential for optimal performance of a wireless sensor network. Clustering provides an effective way of extending the lifetime of a sensor network. Clustering is the…

We have developed an experimental setup of very simple self-propelled robots to observe collective motion emerging as a result of inelastic collisions only. A circular pool and commercial RC boats were the basis of our first setup, where we…

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…

We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…

We propose a distributed cooperative positioning algorithm using the extended Kalman filter (EKF) based spatio-temporal data fusion (STDF) for a wireless network composed of sparsely distributed high-mobility nodes. Our algorithm first…

Maintaining optical alignment between stations of a free-space optical link requires a persistent beam tracking operation. This is achieved using a position-sensitive photodetector at each station which measures the azimuth and elevation of…

Clustering, as a technique for grouping nodes in geographical proximity together, in vehicular communication networks, is a key technique to enhance network robustness and scalability despite challenges such as mobility and routing. This…

This paper presents a novel real-time, delay-aware cooperative perception system designed for intelligent mobility platforms operating in dynamic indoor environments. The system contains a network of multi-modal sensor nodes and a central…

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…

In this paper, a distributed Kalman filtering (DKF) algorithm is proposed based on a diffusion strategy, which is used to track an unknown signal process in sensor networks cooperatively. Unlike the centralized algorithms, no fusion center…

Interest in multimodal function optimization is expanding rapidly since real world optimization problems often demand locating multiple optima within a search space. This article presents a new multimodal optimization algorithm named as the…

Many clustering schemes have been proposed for ad hoc networks. A systematic classification of these clustering schemes enables one to better understand and make improvements. In mobile ad hoc networks, the movement of the network nodes may…

In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…

In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…

Clustering is an important research topic for wireless sensor networks (WSNs). A large variety of approaches has been presented focusing on different performance metrics. Even though all of them have many practical applications, an…

In this paper, a novel cluster-based approach for optimizing the energy efficiency of wireless small cell networks is proposed. A dynamic mechanism based on the spectral clustering technique is proposed to dynamically form clusters of small…

In future traffic scenarios, vehicles and other traffic participants will be interconnected and equipped with various types of sensors, allowing for cooperation based on data or information exchange. This article presents an approach to…