Related papers: Localizing Multiple Radiation Sources Actively wit…
We present a detection problem where several spatially distributed sensors observe Poisson signals emitted from a single source of unknown position. The measurements at each sensor are modeled by independent inhomogeneous Poisson processes.…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…
We present a new approach to the cooperative localisation problem by applying the theory of minimum energy filtering. We consider the problem of estimating the pose of a group of mobile robots in an environment where robots can perceive…
When robots are deployed in the field for environmental monitoring they typically execute pre-programmed motions, such as lawnmower paths, instead of adaptive methods, such as informative path planning. One reason for this is that adaptive…
A method for particle orientation tracking is developed and demonstrated specifically for anisotropic particles. Using (high-speed) multi-camera recordings of anisotropic particles from different viewpoints, we reconstruct the 3D location…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…
The localization of multiple signal sources using sensor arrays has been a long-standing research challenge. While numerous solutions have been developed, signal space methods like MUSIC and ESPRIT have gained widespread popularity. As…
This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e. the pose estimation of tridimensional objects given tactile measurements. This estimation problem is fundamental for the operation of autonomous robots that are often…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
We describe a method for deriving the position and flux of point and compact sources observed by a scanning survey mission. Results from data simulated to test our method are presented, which demonstrate that at least a 10-fold improvement…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
This paper investigates the joint localization, detection, and tracking of sound events using a convolutional recurrent neural network (CRNN). We use a CRNN previously proposed for the localization and detection of stationary sources, and…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Source identification problems have multiple applications in engineering such as the identification of fissures in materials, determination of sources in electromagnetic fields or geophysical applications, detection of contaminant sources,…
A novel method for autonomous localization of multiple sources of gamma radiation using a group of Micro Aerial Vehicles (MAVs) is presented in this paper. The method utilizes an extremely lightweight (44 g) Compton camera MiniPIX TPX3. The…
Recent research has shown a weak convergence - convergence in distribution - of particle filtering methods under certain assumptions. However, some applications of particle filtering methods, such as radiation source localization problems,…
3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…
We investigate localization of a source based on angle of arrival (AoA) measurements made at a geographically dispersed network of cooperating receivers. The goal is to efficiently compute accurate estimates despite outliers in the AoA…
Received signal strength based device-free localization has attracted considerable attention in the research society over the past years to locate and track people who are not carrying any electronic device. Typically, the person is…