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In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
The main challenge of nonconvex optimization is to find a global optimum, or at least to avoid ``bad'' local minima and meaningless stationary points. We study here the extent to which algorithms, as opposed to optimization models and…
Bayesian optimal sensor placement, in its full generality, seeks to maximize the mutual information between uncertain model parameters and the predicted data to be collected from the sensors for the purpose of performing Bayesian inference.…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
Hybrid localization in GNSS-challenged environments using measured ranges and angles is becoming increasingly popular, in particular with the advent of multimodal communication systems. Here, we address the hybrid network localization…
The design of distributed gathering and convergence algorithms for tiny robots has recently received much attention. In particular, it has been shown that convergence problems can even be solved for very weak, \emph{oblivious} robots:…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Rotation averaging is a key subproblem in applications of computer vision and robotics. Many methods for solving this problem exist, and there are also several theoretical results analyzing difficulty and optimality. However, one aspect…
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…
This paper considers the distributed optimization of a sum of locally observable, non-convex functions. The optimization is performed over a multi-agent networked system, and each local function depends only on a subset of the variables. An…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…
We consider the problem of estimating an RF-device's location based on observations, such as received signal strength, from a set of transmitters with known locations. We survey the literature on this problem, showing that previous authors…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…