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Sequence optimization, where the items in a list are ordered to maximize some reward has many applications such as web advertisement placement, search, and control libraries in robotics. Previous work in sequence optimization produces a…
In this paper, we consider a randomized gossip algorithm for the bearing-based network localization problem. Let each sensor node be able to obtain the bearing vectors and communicate its position estimates with several neighboring agents.…
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…
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…
Radio signal-based (indoor) localisation technique is important for IoT applications such as smart factory and warehouse. Through machine learning, especially neural networks methods, more accurate mapping from signal features to target…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
Enabling highly-mobile millimeter wave (mmWave) and terahertz (THz) wireless communication applications requires overcoming the critical challenges associated with the large antenna arrays deployed at these systems. In particular, adjusting…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Nodes localization in Wireless Sensor Networks (WSN) has arisen as a very challenging problem in the research community. Most of the applications for WSN are not useful without a priori known nodes positions. One solution to the problem is…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
Wireless sensor networks (WSNs) are commonly used in various ubiquitous and pervasive applications. Due to limited power resources, the optimal dynamic base station (BS) replacement could be Prolong the sensor network lifetime. In this…
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…
With vast mmWave spectrum and narrow beam antenna technology, precise position location is now possible in 5G and future mobile communication systems. In this article, we describe how centimeterlevel localization accuracy can be achieved,…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
Mobile base stations on board unmanned aerial vehicles (UAVs) promise to deliver connectivity to those areas where the terrestrial infrastructure is overloaded, damaged, or absent. A fundamental problem in this context involves determining…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
Accurate outdoor localization in Non-Line-of-Sight (NLoS) environments remains a critical challenge for wireless communication and sensing systems. Existing methods, including positioning based on the Global Navigation Satellite System…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…