Related papers: Maximum correntropy criterion for robust TOA-based…
In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
Estimating the region of attraction (ROA) of general nonlinear autonomous systems remains a challenging problem and requires a case-by-case analysis. Leveraging the universal approximation property of neural networks, in this paper, we…
The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…
The problem of off-grid direction-of-arrival (DOA) estimation is investigated. We develop a grid-based method to jointly estimate the closest spatial frequency (the sine of DOA) grids, and the gaps between the estimated grids and the…
This work describes and assesses different methods for estimating the time-of-arrival (TOA) of impact-induced waves in isotropic plate-like structures. The methods considered include threshold crossing (TC), continuous wavelet transform…
After decades of research in Direction of Arrival (DoA) estimation, today Maximum Likelihood (ML) algorithms still provide the best performance in terms of resolution capabilities. At the cost of a multidimensional search, ML algorithms…
This paper deals with the accomplishment of total area coverage of an arbitrary region using sensors with a finite sensing radius of rs. For a given region, we aim to obtain a deterministic placement of sensors which, apart from ensuring…
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…
We address the problem of timing-based localization in wireless networks, when an unknown fraction of data is corrupted by nonideal signal conditions. While timing-based techniques enable accurate localization, they are also sensitive to…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Large-scale MIMO systems are well known for their advantages in communications, but they also have the potential for providing very accurate localization thanks to their high angular resolution. A difficult problem arising indoors and…
The challenging problem of non-line-of-sight (NLOS) localization is critical for many wireless networking applications. The lack of available datasets has made NLOS localization difficult to tackle with ML-driven methods, but recent…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
In this paper, a novel environmental mapping method is proposed to outline the indoor layout utilizing the line-of-sight (LoS) state information of extremely large aperture array (ELAA) channels. It leverages the spatial resolution provided…
We propose a novel distributed expectation maximization (EM) method for non-cooperative RF device localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target.…
Wireless positioning in Non-Line-of-Sight (NLoS) scenarios presents significant challenges due to multipath effects that lead to biased measurements and reduced positioning accuracy. This paper revisits electromagnetic field theory related…
For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…