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State-of-the-art optical wireless positioning (OWP) commonly reaches centimeter-level accuracy by depending on dense multi-light-emitting diodes (LED) infrastructures, photodiode (PD) arrays, or image-sensor receivers, incurring hardware…
Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
Accurate indoor node localization is critical for practical Wireless Sensor Network (WSN) applications, as Global Positioning System (GPS) fails to provide reliable Line-of-Sight (LoS) conditions in most indoor environments. Real-world…
Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…
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…
Wireless signal strength based localization can enable robust localization for robots using inexpensive sensors. For this, a location-to-signal-strength map has to be learned for each access point in the environment. Due to the ubiquity of…
Let $\mathcal{P}$ be a simple polygon with $m$ vertices and let $P$ be a set of $n$ points inside $\mathcal{P}$. We prove that there exists, for any $\varepsilon>0$, a set $\mathcal{C} \subset P$ of size $O(1/\varepsilon^2)$ such that the…
An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…
Many localization algorithms use a spatiotemporal window of sensory information in order to recognize spatial locations, and the length of this window is often a sensitive parameter that must be tuned to the specifics of the application.…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
This paper deals with the accomplishment of total area coverage of an arbitrary region using sensors with a finite sensing radius of rs. For a given region, we aim to obtain a deterministic placement of sensors which, apart from ensuring…
Traditional problems in computational geometry involve aspects that are both discrete and continuous. One such example is nearest-neighbor searching, where the input is discrete, but the result depends on distances, which vary continuously.…
Given a polygon $P$, for two points $s$ and $t$ contained in the polygon, their \emph{geodesic distance} is the length of the shortest $st$-path within $P$. A \emph{geodesic disk} of radius $r$ centered at a point $v \in P$ is the set of…
This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements.…
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…