Related papers: 3-D Distributed Localization with Mixed Local Rela…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…
This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference…
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,…
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization problem in dynamic networks where the positions of the agents…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…
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…
We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
In this paper, we propose a novel distributed formation control strategy, which is based on the measurements of relative position of neighbors, with global orientation estimation in 3-dimensional space. Since agents do not share a common…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
This paper studies the problem of determining the sensor locations in a large sensor network using relative distance (range) measurements only. Our work follows from a seminal paper by Khan et al. [1] where a distributed algorithm, known as…
A network is called localizable if the positions of all the nodes of the network can be computed uniquely. If a network is localizable and embedded in plane with generic configuration, the positions of the nodes may be computed uniquely in…
In this paper, we propose a range-based localization algorithm to localize a wireless sensor network (WSN) in 2D. A widely used algorithm to localize a WSN in 2D is trilateration, which runs in polynomial time. Trilateration uses three…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…