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With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
Wireless signal strength based localization can enable robust localization for robots using inexpensive sensors. For this, a location-to-signal-strength map has to be learned for each access point in the environment. Due to the ubiquity of…
Ultra-wideband (UWB) positioning has emerged as a low-cost and dependable localization solution for multiple use cases, from mobile robots to asset tracking within the Industrial IoT. The technology is mature and the scientific literature…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Location-aware networks will introduce new services and applications for modern convenience, surveillance, and public safety. In this paper, we consider the problem of cooperative localization in a wireless network where the position of…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over the robot state is heavily dependent on a proper tuning of…
We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the…
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…
We propose an algorithm for the Wireless Sensor Network localization problem, which is based on the well-known algorithmic framework of Alternating Minimization. We start with a non-smooth and non-convex minimization, and transform it into…
The advantages of millimeter-wave and large antenna arrays technologies for accurate wireless localization received extensive attentions recently. However, how to further improve the accuracy of wireless localization, even in the case of…
Radio-based localization in dynamic environments, such as urban and vehicular settings, requires systems that efficiently adapt to varying signal conditions and environmental changes. Factors like multipath interference and obstructions…
Quadruped robots have the distinct ability to adapt their body and step height to navigate through cluttered environments. Nonetheless, for these robots to utilize their full potential in real-world scenarios, they require awareness of…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…
The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…