Related papers: 3-D Distributed Localization with Mixed Local Rela…
We investigate a wireless network localization scenario in which the need for synchronized nodes is avoided. It consists of a set of fixed anchor nodes transmitting according to a given sequence and a self-localizing receiver node. The…
We describe a new approach for dealing with the following central problem in the self-organization of a geometric sensor network: Given a polygonal region R, and a large, dense set of sensor nodes that are scattered uniformly at random in…
We present DCOOL-NET, a scalable distributed in-network algorithm for sensor network localization based on noisy range measurements. DCOOL-NET operates by parallel, collaborative message passing between single-hop neighbor sensors, and…
Graph rigidity theory studies the capability of a graph embedded in the Euclidean space to constrain its global geometric shape via local constraints among nodes and edges, and has been widely exploited in network localization and formation…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Distributed configuration management is imperative for wireless infrastructureless networks where each node adjusts locally its physical and logical configuration through information exchange with neighbors. Two issues remain open. The…
Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
This paper studies the problem of multi-agent cooperative localization of a common reference coordinate frame in $\mathbb{R}^3$. Each agent in a system maintains a body-fixed coordinate frame and its actual \textit{frame transformation}…
This file proves the properties of the angle constraints and shows how to construct displacement constraints by various kinds of relative measurements.
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
Wireless Sensor Networks (WSNs) are composed of nodes that gather metrics like temperature, pollution or pressure from events generated by external entities. Localization in WSNs is paramount, given that the collected metrics must be…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
Distance metric learning is a successful way to enhance the performance of the nearest neighbor classifier. In most cases, however, the distribution of data does not obey a regular form and may change in different parts of the feature…
Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…
In this correspondence, we present an algorithm for distributed sensor localization with noisy distance measurements (DILAND) that extends and makes the DLRE more robust. DLRE is a distributed sensor localization algorithm in $\mathbb{R}^m$…
This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…