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Estimating the location of N coordinates in a P dimensional Euclidean space from pairwise distances (or proximity measurements), is a principal challenge in a wide variety of fields. Conventionally, when localizing a static network of…
Localization is a fundamental challenge for any wireless network of nodes, in particular when the nodes are mobile. We present an extension of the classical Multidimensional scaling (MDS) for an anchorless network of mobile nodes, wherein…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Real-time motion tracking of kinematic chains is a key prerequisite in the control of, e.g., robotic actuators and autonomous vehicles and also has numerous biomechanical applications. In recent years, it has been shown that, by placing…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
In this work we introduce Dynamic Random Geometric Graphs as a basic rough model for mobile wireless sensor networks, where communication distances are set to the known threshold for connectivity of static random geometric graphs. We…
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…
In this paper, a new parametrization of the relative motion between two satellites orbiting a central body is presented. The parametrization is based on the nodal elements: a set of angles describing the orbit geometry with respect to the…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
This letter presents a novel method for estimating the position, velocity, and acceleration of a moving target using range-based measurements. Although most existing studies focus on position and velocity estimation, the framework of this…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…