Related papers: Development of a Cooperative Localization System u…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsystem is updated independently, even when a relative…
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
Indoor positioning plays a pivotal role in a wide range of applications, from smart homes to industrial automation. In this paper, we propose a comprehensive approach for accurate positioning in indoor environments through the integration…
This paper proposes a received signal strength (RSS) based localization framework for energy harvesting underwater optical wireless sensor networks (EH-UOWSNs), where the optical noise sources and channel impairments of seawater pose…
Relative localization is a crucial functional block of any robotic swarm. We address it in a fleet of nano-drones characterized by a 10 cm-scale form factor, which makes them highly versatile but also strictly limited in their onboard power…
In this work, a system scheme is proposed for tracking a radio emitting target moving in two-dimensional space. The localization is based on the use of biased time-of-arrival (TOA) measurements obtained at two asynchronous receivers, each…
Accurate device free localization (DFL) based on received signal strength (RSS) measurements requires placement of radio transceivers on all sides of the target area. Accuracy degrades dramatically if sensors do not surround the area.…
For decades, the determination of an objects location has been implemented utilizing different technologies. Despite GPS (Global Positioning System) provides a scalable efficient and cost effective location services however the satellite…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
With the recent development of technology, wireless sensor networks are becoming an important part of many applications such as health and medical applications, military applications, agriculture monitoring, home and office applications,…
This thesis studies range-based WSN localization problem in 3D environments that induce coplanarity. In most real-world applications, even though the environment is 3D, the grounded sensor nodes are usually deployed on 2D planar surfaces.…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
This paper develops a comprehensive framework to investigate and optimize the downlink performance of cooperative multi-band networks (MBNs) operating on upper mid-band (UMB) and terahertz (THz) frequencies, where base stations (BSs) in…
Nowadays, indoor localization has received extensive research interest due to more and more applications' needs for location information to provide a more precise and effective service [1], [2]. There are various wireless techniques and…
This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…
Sensor nodes are low cost, low power devices that are used to collect physical data and monitor environmental conditions from remote locations. Wireless Sensor Networks(WSN) are collection of sensor nodes, coordinating among themselves to…
Understanding the location of ultra-wideband (UWB) tag-attached objects and people in the real world is vital to enabling a smooth cyber-physical transition. However, most UWB localization systems today require multiple anchors in the…
In applications such as seismic acquisition, the position information of sensor nodes, that are deployed in a linear topology, is desired with sub-meter accuracy in the presence of a limited number of anchor nodes. This can be achieved with…