Related papers: Range-based Coordinate Alignment for Cooperative M…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
State-of-the-art object detection systems rely on an accurate set of region proposals. Several recent methods use a neural network architecture to hypothesize promising object locations. While these approaches are computationally efficient,…
In this article we analyze the state-of-the-art in multilateration - the family of localization methods enabled by the range difference observations. These methods are computationally efficient, signal-independent, and flexible with regards…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
Location-aided beam alignment has been proposed recently as a potential approach for fast link establishment in millimeter wave (mmWave) massive MIMO (mMIMO) communications. However, due to mobility and other imperfections in the estimation…
Mobile networks are composed of many base stations and for each of them many parameters must be optimized to provide good services. Automatically and dynamically optimizing all these entities is challenging as they are sensitive to…
The integration of sensing capabilities into communication systems, by sharing physical resources, has a significant potential for reducing spectrum, hardware, and energy costs while inspiring innovative applications. Cooperative networks,…
This paper describes a system for supporting coarse-grained location-based synchronisation. This type of synchronisation may occur when people need only some awareness about the location of others within the specific context of an on-going…
Localizing a radiant source is a widespread problem to many scientific and technological research areas. E.g. localization based on range measurements stays at the core of technologies like radar, sonar and wireless sensors networks. In…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas…
We investigate localization of a source based on angle of arrival (AoA) measurements made at a geographically dispersed network of cooperating receivers. The goal is to efficiently compute accurate estimates despite outliers in the AoA…
This paper focuses on coordinate update methods, which are useful for solving problems involving large or high-dimensional datasets. They decompose a problem into simple subproblems, where each updates one, or a small block of, variables…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Synchronization and localization are critical challenges for the coherent functioning of a wireless network, which are conventionally solved independently. Recently, various estimators have been proposed for pairwise synchronization between…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
The vivid success of the emerging wireless sensor technology (WSN) gave rise to the notion of localization in the communications field. Indeed, the interest in localization grew further with the proliferation of the wireless sensor network…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…