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In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Many localization algorithms and systems have been developed by means of wireless sensor networks for both indoor and outdoor environments. To achieve higher localization accuracy, extra hardware equipments are utilized by most of the…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance estimation from time-of-flight measurements of wireless…
A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and…
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…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightweight, and…
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…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…