Related papers: Range-based Coordinate Alignment for Cooperative M…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
Most learning-based approaches to category-level 6D pose estimation are design around normalized object coordinate space (NOCS). While being successful, NOCS-based methods become inaccurate and less robust when handling objects of a…
Localizing targets outside the anchors' convex hull is an understudied but prevalent scenario in vehicle-centric, UAV-based, and self-localization applications. Considering such scenarios, this paper studies the optimal anchor placement…
We consider the problem of consistently matching multiple sets of elements to each other, which is a common task in fields such as computer vision. To solve the underlying NP-hard objective, existing methods often relax or approximate it,…
Crowd localization aims to predict the spatial position of humans in a crowd scenario. We observe that the performance of existing methods is challenged from two aspects: (i) ranking inconsistency between test and training phases; and (ii)…
In this paper, we develop a class of decentralized algorithms for solving a convex resource allocation problem in a network of $n$ agents, where the agent objectives are decoupled while the resource constraints are coupled. The agents…
Received signal strength (RSS)-based wireless localization is easy to implement at low cost. In practice,exact positions of anchors may not be available. This paper focuses on determining the location of a source in the presence of…
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
Underwater optical wireless links have limited range and intermittent connectivity due to the hostile aquatic channel impairments and misalignment between the optical transceivers. Therefore, multi-hop communication can expand the…
In this paper, a compressed sensing (CS) based framework of multi-target cooperative visible light positioning (VLP) is formulated to realize simultaneous highaccuracy localization of multiple targets. The light emitting diodes (LEDs)…
In this paper, we develop a \textit{distributed} algorithm to localize an arbitrary number of agents moving in a bounded region of interest. We assume that the network contains \textit{at least one} agent with known location (hereinafter…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…
Enabling passive sensing of the environment using cellular base stations (BSs) will be one of the disruptive features of the sixth-generation (6G) networks. However, accurate localization and positioning of objects are challenging to…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…