Related papers: Angle-Displacement Rigidity Theory with Applicatio…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
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…
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…
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…
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…
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,…
Graph rigidity theory is an important tool for examining the solvability of sensor network localization (SNL) problems, and ensuring global convergence of localization algorithms. Along this direction, diverse measurements such as signed…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
This paper studies angle-based sensor network localization (ASNL) in a plane, which is to determine locations of all sensors in a sensor network, given locations of partial sensors (called anchors) and angle measurements obtained in the…
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…
Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G…
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…
Estimating the location of N coordinates in a P dimensional Euclidean space from pairwise distances (or proximity measurements), is a principal challenge in a wide variety of fields. Conventionally, when localizing a static network of…
This paper focuses on the problem of estimating bearing vectors between the agents in a two dimensional multi-agent network based on subtended angle measurements, called edge localization problem. We propose an edge localization graph to…
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…
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…
We propose an algorithm to locate the most critical nodes to network robustness. Such critical nodes may be thought of as those most related to the notion of network centrality. Our proposal relies only on a localized spectral analysis of a…
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…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
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…