Related papers: Ranging-Based Localizability Optimization for Mobi…
Predictive models can be particularly helpful for robots to effectively manipulate terrains in construction sites and extraterrestrial surfaces. However, terrain state representations become extremely high-dimensional especially to capture…
Wireless positioning systems that are implemented by means of a Cloud Radio Access Networks (C-RANs) may provide cost-effective solutions, particularly for indoor localization. In a C-RAN, the baseband processing, including localization, is…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
Parameter estimation is a fundamental problem in science and engineering. In many safety-critical applications, one is not only interested in a {\it point} estimator, but also the uncertainty bound that can self-assess the accuracy of the…
In a visible light positioning (VLP) system, a receiver can estimate its location based on signals transmitted by light emitting diodes (LEDs). In this manuscript, we investigate a quasi-synchronous VLP system, in which the LED transmitters…
In view of the fact that routing algorithms are network layer entities and the varying performance of any routing algorithm depends on the underlying networks. Localized routing algorithms avoid the problems associated with the maintenance…
In increasing number of electronic devices implement wideband radio technologies for localization and sensing purposes, like ultra-wideband (UWB). Such radio technologies benefit from a large number of antennas, but space for antennas is…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization problem in dynamic networks where the positions of the agents…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
In continual learning, networks confront a trade-off between stability and plasticity when trained on a sequence of tasks. To bolster plasticity without sacrificing stability, we propose a novel training algorithm called LRFR. This approach…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
In this paper, we consider a multiple-input multiple-output (MIMO) radar system for localizing a target based on its reflected echo signals. Specifically, we aim to estimate the random and unknown angle information of the target, by…
Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning…
The localization of directional RF emitters presents significant challenges for electronic warfare applications. Traditional localization methods, designed for omnidirectional emitters, experience degraded performance when applied to…
Future sixth-generation (6G) networks are envisioned to provide both sensing and communications functionalities by using densely deployed base stations (BSs) with massive antennas operating in millimeter wave (mmWave) and terahertz (THz).…
Magnetic Induction (MI) is an efficient wireless communication method to deploy operational internet of underground things (IOUT) for oil and gas reservoirs. The IOUT consists of underground things which are capable of sensing the…