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There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…

Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…

This paper develops a new framework for preventing localization failures in mobile systems that must estimate their state using measurements. Safety is guaranteed by imposing the nonlinear least squares optimization solved in modern…

Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address…

We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…

Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…

Many optimization algorithms converge to stationary points. When the underlying problem is nonconvex, they may get trapped at local minimizers and occasionally stagnate near saddle points. We propose the Run-and-Inspect Method, which adds…

We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…

Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…

This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…

Efficient Gas Source Localization (GSL) in real-world settings is crucial, especially in emergency scenarios. Mobile robots equipped with low-cost, in-situ gas sensors offer a safer alternative to human inspection in hazardous environments.…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

In this contribution, we are concerned with parameter optimization problems that are constrained by multiscale PDE state equations. As an efficient numerical solution approach for such problems, we introduce and analyze a new relaxed and…

One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…

This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…

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…

Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…

We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…