Related papers: Ranging-Based Localizability Optimization for Mobi…
Many applications have been identified which require the deployment of large-scale low-power wireless sensor networks. Some of the deployment environments, however, impose harsh operation conditions due to intense cross-technology…
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…
A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy is not readily available from low-cost Global Navigation Satellite System (GNSS) receivers because of factors such as multipath error and…
The Cram\'er-Rao bound (CRB), a well-known lower bound on the performance of any unbiased parameter estimator, has been used to study a wide variety of problems. However, to obtain the CRB, requires an analytical expression for the…
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…
This paper studies a networked sensing system with multiple base stations (BSs), which collaboratively sense the unknown and random three-dimensional (3D) location of a target based on the target-reflected echo signals received at the BSs.…
We present novel lower bounds on the localization error using a network of satellites randomly deployed on a sphere around Earth. Our new analysis approach characterizes the localization performance by its asymptotic behavior as the number…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
The roll-out phase of the next generation of mobile networks (5G) has started and operators are required to devise deployment solutions while pursuing localization accuracy maximization. Enabling location-based services is expected to be a…
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.…
Multiple antenna arrays play a key role in wireless networks for communications but also localization and sensing. The use of large antenna arrays pushes towards a propagation regime in which the wavefront is no longer plane but spherical.…
Localization accuracy is of paramount importance for the proper operation of underwater optical wireless sensor networks (UOWSNs). However, underwater localization is prone to hostile environmental impediments such as drifts due to the…
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…
A new algorithm for 3D localization in multiplatform radar networks, comprising one transmitter and multiple receivers, is proposed. To take advantage of the monostatic sensor radiation pattern features, ad-hoc constraints are imposed in…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
We consider a novel and general approach to easily compute the Cram\'er-Rao Lower Bounds (CRLBs) of rigid body localization (RBL) problem using arbitrary types of information. To that end, we adopt an information-centric construction of the…