Related papers: Ranging-Based Localizability Optimization for Mobi…
This paper derives a general expression for the Cram\'er-Rao bound (CRB) of wireless localization algorithms using range measurements subject to bias corruption. Specifically, the a priori knowledge about which range measurements are…
In wireless networks, an essential step for precise range-based localization is the high-resolution estimation of multipath channel delays. The resolution of traditional delay estimation algorithms is inversely proportional to the bandwidth…
Distributed configuration management is imperative for wireless infrastructureless networks where each node adjusts locally its physical and logical configuration through information exchange with neighbors. Two issues remain open. The…
Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Distance estimation is vital for localization and many other applications in wireless sensor networks (WSNs). Particularly, it is desirable to implement distance estimation as well as localization without using specific hardware in low-cost…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
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…
In this paper, we aim to determine the location information of a node deployed in Wireless Sensor Networks (WSN). We estimate the position of an unknown source node using localization based on linear approach on a single simulation…
Knowledge about the location of licensed primary-users (PU) could enable several key features in cognitive radio (CR) networks including improved spatio-temporal sensing, intelligent location-aware routing, as well as aiding spectrum policy…
Relaying can improve the coverage and performance of wireless access networks. In presence of a localisation system at the mobile nodes, the use of such location estimates for relay node selection can be advantageous as such information can…
This paper presents a distributed estimator for a deterministic parametric physical field sensed by a homogeneous sensor network and develops a new transformed expression for the Cramer-Rao lower bound (CRLB) on the variance of distributed…
Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…
Accurately estimating the position of a wireless emitter in a multipath environment based on samples received at various base stations (in known locations) has been extensively explored in the literature. Existing approaches often assume…
The detection of landmarks or patterns is of interest for extracting features in biological images. Hence, algorithms for finding these keypoints have been extensively investigated in the literature, and their localization and detection…
In wireless location-aware networks, mobile nodes (agents) typically obtain their positions through ranging with respect to nodes with known positions (anchors). Transmit power allocation not only affects network lifetime, throughput, and…
Accurate and robust localization is crucial for wireless ad-hoc and sensor networks. Among the localization techniques, component-based methods advance themselves for conquering network sparseness and anchor sparseness. But component-based…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
Artificial Intelligence (AI) solutions for wireless location estimation are likely to prevail in many real-world scenarios. In this work, we demonstrate for the first time how the Cramer-Rao upper bound on localization accuracy can…