Related papers: Instantaneous Wireless Robotic Node Localization U…
The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas…
Internet of Things (IoT) applications are increasingly reliant on indoor positioning systems to deliver precise and reliable navigation in GNSS-denied environments, including urban areas, smart warehouses, hospitals, and underground or…
Cooperation between the nodes of wireless multihop networks can increase communication reliability, reduce energy consumption, and decrease latency. The possible improvements are even greater when nodes perform mutual information…
This paper considers target tracking based on a beacon signal's time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance…
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of…
Accurate wireless localization underpins applications from autonomous systems to smart infrastructure. We study the mean-squared error (MSE) and conditional MSE (CMSE) of a practical fusion-based estimator in d-dimensional, stationary…
A distributed data collection algorithm to accurately store and forward information obtained by wireless sensor networks is proposed. The proposed algorithm does not depend on the sensor network topology, routing tables, or geographic…
This paper revisits the problem of locating a signal-emitting source from time-difference-of-arrival (TDOA) measurements under non-line-of-sight (NLOS) propagation. Many currently fashionable methods for NLOS mitigation in TDOA-based…
This paper addresses the challenge of collision-free motion planning in automated navigation within complex environments. Utilizing advancements in Deep Reinforcement Learning (DRL) and sensor technologies like LiDAR, we propose the TD3-DWA…
Wireless Sensor Networks (WSNs) are essential for monitoring and communication in complex environments, where coverage optimization directly affects performance and energy efficiency. However, traditional algorithms such as the Whale…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…
Many location-based services use Received Signal Strength (RSS) measurements due to their universal availability. In this paper, we study the association of a large number of low-cost Internet-of-Things (IoT) sensors and their possible…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
In this study, we consider the use of seismic sensors for footstep localization in indoor environments. A popular strategy of localization is to use the measured differences in arrival times of source signals at multiple pairs of receivers.…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
Mobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFI propagation maps of the access points are modeled deterministically. However, this procedure does not take into…
Indoor localization systems have become increasingly important in a wide range of applications, including industry, security, logistics, and emergency services. However, the growing demand for accurate localization has heightened concerns…
In this paper, we study probabilistic time-of-arrival (ToA) and angle-of-arrival (AoA) joint localization in real indoor environments. To mitigate the effects of multipath propagation, the joint localization algorithm incorporates into the…
The vast amount of spectrum available for millimeter wave (mmWave) wireless communication systems will support accurate real-time positioning concurrent with communication signaling. This paper demonstrates that accurate estimates of the…