Related papers: 3D Mobile Localization Using Distance-only Measure…
This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
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, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
A GPS-denied UAV (Agent B) is localised through INS alignment with the aid of a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several time instants. Agent B measures the signals' direction of arrival with respect to…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…
In this paper, we study the joint 3D placement of unmanned aerial vehicles (UAVs) and UAVs-users association under bandwidth limitation and quality of service constraint. In particular, in order to allow to UAVs to dynamically improve their…
Unmanned aerial vehicle (UAV) base stations (BSs) are reliable and efficient alternative to full fill the coverage and capacity requirements when the backbone network fails to provide such requirements due to disasters. In this paper, we…
In emergency scenarios, unmanned aerial vehicles (UAVs) can be deployed to assist localization and communication services for ground terminals. In this paper, we propose a new integrated air-ground networking paradigm that uses…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Localization of a target object has been performed conventionally using multiple terrestrial reference nodes. This paradigm is recently shifted towards utilization of unmanned aerial vehicles (UAVs) for locating target objects. Since…
In the distributed localization problem (DLP), $n$ anonymous robots (agents) $a_0, a_1, ..., a_{n-1}$ begin at arbitrary positions $p_0, ..., p_{n-1}$ in $S$, where $S$ is an Euclidean space. The primary goal in DLP is for agents to reach a…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…
This paper considers the challenge of localizing ground users with the help of a radio-equipped unmanned aerial vehicle (UAV) that collects measurements from users. We utilize time-of-arrival (ToA) measurements estimated from the radio…
Unmanned aerial vehicles (UAVs), as aerial base stations, are a promising solution for providing wireless communications, thanks to their high flexibility and autonomy. Moreover, emerging services, such as extended reality, require…
The localization problem in a wireless sensor network is to determine the coordination of sensor nodes using the known positions of some nodes (called anchors) and corresponding noisy distance measurements. There is a variety of different…
We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a…
Localization plays a key role for safe operation of UAVs enabling beyond visual line of sight applications. Compared to GPS based localization, cellular networks can reduce the positioning error and cost since cellular connectivity is…