Related papers: Localizing Multiple Radiation Sources Actively wit…
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…
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…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
Radio source localization can benefit many fields, including wireless communications, radar, radio astronomy, wireless sensor networks, positioning systems, and surveillance systems. However, accurately estimating the position of a radio…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…
In this paper, we consider a novel and robust maximum likelihood approach to localizing radiation sources with unknown statistics of the source signal strength. The result utilizes the smallest number of sensors required theoretically to…
Particle filtering is a recursive Bayesian estimation technique that has gained popularity recently for tracking and localization applications. It uses Monte Carlo simulation and has proven to be a very reliable technique to model…
Radiation source detection has seen various applications in the past decade, ranging from the detection of dirty bombs in public places to scanning critical nuclear facilities for leakage or flaws, and in the autonomous inspection of…
Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…
Accurate localization is a critical requirement for most robotic tasks. The main body of existing work is focused on passive localization in which the motions of the robot are assumed given, abstracting from their influence on sampling…
Localization of radio frequency sources over multipath channels is a difficult problem arising in applications such as outdoor or indoor gelocation. Common approaches that combine ad-hoc methods for multipath mitigation with indirect…
This study proposes a new Gaussian Mixture Filter (GMF) to improve the estimation performance for the autonomous robotic radio signal source search and localization problem in unknown environments. The proposed filter is first tested with a…
This paper considers the problem of localising a stationary signal source using a team of mobile agents which only take binary measurements. Background false detection rates and missed detection probabilities are incorporated into the…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…
In this paper we use the MAP criterion to locate a region containing a source. Sensors placed in a field of interest divide the latter into smaller regions and take measurements that are transmitted over noisy wireless channels. We propose…
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…
Simulation studies are presented regarding the performance of algorithms that localize point-like radioactive sources detected by a position sensitive portable radiation instrument (COCAE). The source direction is estimated by using the…
Herein, the problem of simultaneous localization of two sources given a modest number of samples is examined. In particular, the strategy does not require knowledge of the target signatures of the sources a priori, nor does it exploit…
Target localization is a critical task in various applications, such as search and rescue, surveillance, and wireless sensor networks. When a target emits a radio frequency (RF) signal, spatially distributed sensors can collect signal…