Related papers: Graph Optimization Approach to Range-based Localiz…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…
In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
We propose an algorithm for distributed optimization over time-varying communication networks. Our algorithm uses an optimized ratio between the number of rounds of communication and gradient evaluations to achieve fast convergence. The…
Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…
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…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly strongly depends on the network geometry. This motivates the problem of planning robot…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
We consider a problem of localizing a path-signal that evolves over time on a graph. A path-signal can be viewed as the trajectory of a moving agent on a graph in several consecutive time points. Combining dynamic programming and graph…