Related papers: Optimal measurement selection algorithm and estima…
Optimal sensor and actuator selection is a central challenge in high-dimensional estimation and control. Nearly all subsequent control decisions are affected by these sensor/actuator locations, and optimal placement amounts to an…
This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors; the…
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…
We propose an adaptive, two steps strategy, for the estimation of mixed qubit states. We show that the strategy is optimal in a local minimax sense for the trace norm distance as well as other locally quadratic figures of merit. Local…
This paper studies a distributed state estimation problem for both continuous- and discrete-time linear systems. A simply structured distributed estimator (comprising interconnected local estimators) is first described for estimating the…
In this article we analyze the state-of-the-art in multilateration - the family of localization methods enabled by the range difference observations. These methods are computationally efficient, signal-independent, and flexible with regards…
We consider a remote estimation problem with an energy harvesting sensor and a remote estimator. The sensor observes the state of a discrete-time source which may be a finite state Markov chain or a multi-dimensional linear Gaussian system.…
Distributed sensor networks often include a multitude of sensors, each measuring parts of a process state space or observing the operations of a system. Communication of measurements between the sensor nodes and estimator(s) cannot…
With the increase in the number of active satellites and space debris in orbit, the problem of initial orbit determination (IOD) becomes increasingly important, demanding a high accuracy. Over the years, different approaches have been…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
In this paper, we present a effective state estimation algorithm that combined with various sensors information (Inertial measurement unit, joints encoder, camera and LIDAR)
We study the problem of distributed state estimation in a network of sensing units that can exchange their measurements but the rate of communication between the units is constrained. The units collect noisy, possibly only partial…
This paper explores the distance-based relative state estimation problem in large-scale systems, which is hard to solve effectively due to its high-dimensionality and non-convexity. In this paper, we alleviate this inherent hardness to…
We introduce a general model for a network of quantum sensors, and we use this model to consider the question: When can entanglement between the sensors, and/or global measurements, enhance the precision with which the network can measure a…
This paper studies static state estimation in multi-sensor settings, with a caveat that an unknown subset of the sensors are compromised by an adversary, whose measurements can be manipulated arbitrarily. The attacker is able to compromise…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions, they are slow, suffer scale ambiguity,…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…