Related papers: Ranging-Based Localizability Optimization for Mobi…
In a MIMO radar network the multiple transmit elements may emit waveforms that differ on power and bandwidth. In this paper, we are asking, given that these two resources are limited, what is the optimal power, optimal bandwidth and optimal…
Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
The ability of a sensor node to determine its location in a sensor network is important in many applications. The infrastructure for the location-based services is an easy target for malicious attacks. We address scenarios where malicious…
Modern navigation systems rely heavily on Global Navigation Satellite Systems (GNSS), whose weak spaceborne signals are vulnerable to jamming, spoofing, and line-of-sight blockage. As an alternative, the Earth's magnetic field entails…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…
An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy…
The study of the optimality of low-complexity greedy scheduling techniques in wireless communications networks is a very complex problem. The Local Pooling (LoP) factor provides a single-parameter means of expressing the achievable capacity…
The recent trend for extremely massive antenna arrays and high frequencies facilitates localization and sensing, offering increased angular and range resolution. In this letter, we focus on the emerging technology of Dynamic Metasurface…
This paper addresses the synthesis of slow-time coded waveforms for single target tracking in a radar network operating under colored Gaussian interference. Based on the Posterior Cram\'er Rao Lower Bound (PCRLB), which characterizes the…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
Determining whether nodes can be localized, called localizability detection, is essential for wireless sensor networks (WSNs). This step is required for localizing nodes, achieving low-cost deployments, and identifying prerequisites in…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
This work presents an investigation on the scalability of a deep leaning (DL)-based blind transmitter positioning system for addressing the multi transmitter localization (MLT) problem. The proposed approach is able to estimate relative…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
This paper analyzes the localization outage probability (LOP), the probability that the position error exceeds a given threshold, in randomly deployed wireless networks. Two typical cases are considered: a mobile agent uses all the…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…