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We address the sensor network localization problem given noisy range measurements between pairs of nodes. We approach the non-convex maximum-likelihood formulation via a known simple convex relaxation. We exploit its favorable optimization…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
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…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
This manuscript is a preliminary pre-print version of a journal submission by the authors, revisiting the problem of range measurement based localization of a signal source or a sensor. The major geometric difficulty of the problem comes…
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…
Reliability is a key factor for realizing safety guarantee of full autonomous robot systems. In this paper, we focus on reliability in mobile robot localization. Monte Carlo localization (MCL) is widely used for mobile robot localization.…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
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…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehicles, certifying the safety of the localization process poses…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
This paper considers node localization in static sensor networks using range-only measurements. Similar to state- of-the-art algorithms, such as ECHO and DILOC, we rely on barycentric coordinates of the nodes to transform the non-convex…