Related papers: Range-based Coordinate Alignment for Cooperative M…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
In sensor networks characterized by irregular layouts and poor connectivity, anisotropic properties can significantly reduce the accuracy of distance estimation between nodes, consequently impairing the localization precision of…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
This paper studies angle-based sensor network localization (ASNL) in a plane, which is to determine locations of all sensors in a sensor network, given locations of partial sensors (called anchors) and angle measurements obtained in the…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
This paper focuses on the problem of localising a transmitting mobile station (MS) using multiple cooperative base stations (BSs). There are two technical difficulties: one is the data association between intermediate parameters and…
Routing algorithms for wireless sensor networks can be broadly divided into two classes - proactive and reactive. Proactive routing is suitable for a network with a fixed topology. On the other hand, reactive routing is more suitable for a…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
Given that the accuracy of range-based positioning techniques generally increases with the number of available anchor nodes, it is important to secure more of these nodes. To this end, this paper studies an unsupervised learning technique…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
The integration of cooperative and non-cooperative localization is fundamentally important, as these two modes frequently coexist in wireless sensor networks, especially when sensor positions are uncertain and targets are unable to…
This thesis studies range-based WSN localization problem in 3D environments that induce coplanarity. In most real-world applications, even though the environment is 3D, the grounded sensor nodes are usually deployed on 2D planar surfaces.…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
Colander are location aware entities that collaborate to determine approximate location of mobile or static objects when beacons from an object are received by all colanders that are within its distance $R$. This model, referred to as…