Related papers: Sensor Placement for Globally Optimal Coverage of …
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…
The emerging technology of wireless sensor network (WSN) is expected to provide a broad range of applications, such as battlefield surveillance, environmental monitoring, smart spaces and so on. The coverage problem is a fundamental issue…
Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
In the recent years, there has been a huge advancement in wireless sensor computing technology. Today, wireless sensor network (WSN) has become a key technology for different types of smart environment. Nodes localization in WSN has arisen…
This paper presents a method for determining the area explored by a line-sweep sensor during an area-covering mission in a two-dimensional plane. Accurate knowledge of the explored area is crucial for various applications in robotics, such…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…
This paper examines the spatial coverage optimization problem for multiple sensors in a known convex environment, where the coverage service of each sensor is heterogeneous and anisotropic. We introduce the Stein Coverage algorithm, a…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Using RF signals for wireless sensing has gained increasing attention. However, due to the unwanted multi-path fading in uncontrollable radio environments, the accuracy of RF sensing is limited. Instead of passively adapting to the…
Sensors are vital for environmental monitoring, yet their effectiveness diminishes under spatial uncertainty. We propose a robust optimization framework for maximizing the coverage of aerial directional sensors under spatial uncertainty.…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
We propose integer-programming formulations for an optimal safety-landing site (SLS) location problem that arises in the design of urban air-transportation networks. We first develop a set-cover based approach for the case where the…
Unmanned aerial vehicles (UAVs), as aerial base stations, are a promising solution for providing wireless communications, thanks to their high flexibility and autonomy. Moreover, emerging services, such as extended reality, require…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…