Related papers: Range-based Coordinate Alignment for Cooperative M…
Sensor nodes are low cost, low power devices that are used to collect physical data and monitor environmental conditions from remote locations. Wireless Sensor Networks(WSN) are collection of sensor nodes, coordinating among themselves to…
We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…
Network localization is capable of providing accurate and ubiquitous position information for numerous wireless applications. This paper studies the accuracy of cooperative network localization in large-scale wireless networks. Based on a…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
This paper investigates node deployment strategies for robust multi-node cooperative localization in integrated sensing and communication (ISAC) networks.We first analyze how steering vector correlation across different positions affects…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
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…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Tracking movement of mobile nodes has received significant scientific and commercial interest, but long term tracking of resource-constrained mobile nodes remains challenging due to the high energy consumption of satellite receivers.…
A Semidefinite Programming (SDP) relaxation is an effective computational method to solve a Sensor Network Localization problem, which attempts to determine the locations of a group of sensors given the distances between some of them [11].…
Existing anchor-based and anchor-free object detectors in multi-stage or one-stage pipelines have achieved very promising detection performance. However, they still encounter the design difficulty in hand-crafted 2D anchor definition and…
In this paper, we consider a cooperative sensing framework in the context of future multi-functional network with both communication and sensing ability, where one base station (BS) serves as a sensing transmitter and several nearby BSs…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
Time synchronization is an important aspect of sensor network operation. However, it is well known that synchronization error accumulates over multiple hops. This presents a challenge for large-scale, multi-hop sensor networks with a large…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…