Related papers: Ranging-Based Localizability Optimization for Mobi…
We address the sensor network localization problem given noisy range measurements between pairs of nodes. We approach the non-convex maximum-likelihood formulation via a known simple convex relaxation. We exploit its favorable optimization…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
The adoption of large-scale antenna arrays at high-frequency bands is widely envisioned in the beyond 5G wireless networks. This leads to the near-field regime where the wavefront is no longer planar but spherical, bringing new…
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
Velocity estimation is a cornerstone of the recently introduced near-field predictive beamforming. This paper derives the Cramer-Rao bounds (CRBs) for joint radial and transverse velocity estimation within a predictive beamforming framework…
Localization is one of the most important factor in wireless sensor networks as many applications demand position information of sensors. Recently there is an increasing interest on the use of mobile anchors for localizing sensors. Most of…
In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
We propose a learning algorithm for cell-load approximation in wireless networks. The proposed algorithm is robust in the sense that it is designed to cope with the uncertainty arising from a small number of training samples. This scenario…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
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…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Although direct position estimation (DPE) has been demonstrated to offer enhanced robustness in GNSS receivers, its theoretical limits and performance in OFDM based positioning systems remain largely unexplored. In this paper, the…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
In-region location verification (IRLV) in wireless networks is the problem of deciding if user equipment (UE) is transmitting from inside or outside a specific physical region (e.g., a safe room). The decision process exploits the features…