Related papers: Instantaneous Wireless Robotic Node Localization U…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
In this paper, we present algorithms to identify environmental hotspots using mobile sensors. We examine two approaches: one involving a single robot and another using multiple robots coordinated through a decentralized robot system. We…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…
We study time difference of arrival (TDoA)-based algorithms for drone controller localization and analyze TDoA estimation in multipath channels. Building on TDoA estimation, we propose two algorithms to enhance localization accuracy in…
Source localization techniques incorporating hybrid measurements improve the reliability and accuracy of the location estimate. Given a set of hybrid sensors that can collect combined time of arrival (TOA), received signal strength (RSS)…
Wireless sensor networks require accurate target localization, often achieved through received signal strength (RSS) localization estimation based on maximum likelihood (ML). However, ML-based algorithms can suffer from issues such as low…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
LoRaWAN has garnered tremendous attention owing to the low power consumption of end nodes, long range, high resistance to multipath, low cost, and use of license-free sub-GHz bands. Consequently, LoRaWAN is gradually replacing Wi-Fi and…
The demand for accurate localization has risen in recent years to enable the emerging of autonomous vehicles. To have these vehicles in the traffic ecosystem of smart cities, the need for an accurate positioning system is emphasized. To…
Locating each node in a wireless sensor network is essential for starting the monitoring job and sending information about the area. One method that has been used in hard and inaccessible environments is randomly scattering each node in the…
Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…
Location-aware networks will introduce new services and applications for modern convenience, surveillance, and public safety. In this paper, we consider the problem of cooperative localization in a wireless network where the position of…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Accurate and low-power indoor localization is becoming more and more of a necessity to empower novel consumer and industrial applications. In this field, the most promising technology is based on UWB modulation; however, current UWB…
The continuously increasing bandwidth and antenna aperture available in wireless networks laid the foundation for developing competitive positioning solutions relying on communications standards and hardware. However, poor propagation…
This paper investigates the hybrid source localization problem using the four radio measurements - time of arrival (TOA), time difference of arrival (TDOA), received signal strength (RSS), and angle of arrival (AOA). First, after invoking…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…