Related papers: Distributed Information-based Source Seeking
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
A simple feedback control algorithm is presented for distributed beamforming in a wireless network. A network of wireless sensors that seek to cooperatively transmit a common message signal to a Base Station (BS) is considered. In this…
In this paper we consider the problem of localizing a set of broadband sources from a finite window of measurements. In the case of narrowband sources this can be reduced to the problem of spectral line estimation, where our goal is simply…
This paper introduces a novel smartphone-enabled localization technology for ambient Internet of Things (IoT) devices, leveraging the widespread use of smartphones. By utilizing the passive movement of a smartphone, we create a virtual…
We consider the problem of Active Source Identification (ASI) in steady-state Advection-Diffusion (AD) transport systems. Unlike existing bio-inspired heuristic methods, we propose a model-based method that employs the AD-PDE to capture the…
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…
A method is proposed, based on scan statistics, to detect, identify, and localize illicit radiological material using mobile sensors in an urban environment. Our method handles varying levels of background radiation that change according to…
Sampling-based motion planners have experienced much success due to their ability to efficiently and evenly explore the state space. However, for many tasks, it may be more efficient to not uniformly explore the state space, especially when…
Inspection of infrastructure using static sensor nodes has become a well established approach in recent decades. In this work, we present an experimental setup to address a binary inspection task using mobile sensor nodes. The objective is…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
We study how the amount of correlation between observations collected by distinct sensors/learners affects data collection and collaboration strategies by analyzing Fisher information and the Cramer-Rao bound. In particular, we consider a…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
The problem of planning sensing trajectories for a mobile robot to collect observations of a target and predict its future trajectory is known as active target tracking. Enabled by probabilistic motion models, one may solve this problem by…
In this paper, we present the design of a scalable, distributed stream processing system for RFID tracking and monitoring. Since RFID data lacks containment and location information that is key to query processing, we propose to combine…
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…
We consider the External Clock Synchronization problem in dynamic sensor networks. Initially, sensors obtain inaccurate estimations of an external time reference and subsequently collaborate in order to synchronize their internal clocks…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…