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This work demonstrates how to leverage previous network expert demonstrations of UAV deployment to automate the drones placement in civil applications. Optimal UAV placement is an NP-complete problem: it requires a closed-form utility…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…
Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is a generalization of the Traveling Deliveryman Problem where more than one deliveryman…
In this work, we address the problem of optimally placing a finite number of sensors within a given region so as to minimize the mean or maximal distance to the points of the domain. To tackle this natural geometric performance criterion,…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
Position-aided beam selection methods have been shown to be an effective approach to achieve high beamforming gain while limiting the overhead and latency of initial access in millimeter wave (mmWave) communications. Most research in the…
We consider the following positioning problem where several base stations (BS) try to locate a user equipment (UE): The UE sends a positioning signal to several BS. Each BS performs Angle of Arrival (AoA) measurements on the received…
We propose an algorithm for the Wireless Sensor Network localization problem, which is based on the well-known algorithmic framework of Alternating Minimization. We start with a non-smooth and non-convex minimization, and transform it into…
Based on machine learning techniques, we propose a novel method to estimate flow fields using only floating sensor locations. This method does not require either ground-truth velocity fields or governing equations for fluid flows, which is…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
The problem of guiding a flock of agents to a destination by the repulsion forces exerted by a smaller number of external agents is called the shepherding problem. This problem has attracted attention due to its potential applications,…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
We here construct (large) local and small global-in-time regular unique solutions to the fractional Euler alignment system in the whole space ${\mathbb R}^d$, in the case where the deviation of the initial density from a constant is…
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…
This paper introduces an online inspection algorithm that enables an autonomous UAV to fly around a transmission tower and obtain detailed inspection images without a prior map of the tower. Our algorithm relies on camera-LiDAR sensor…
In this work we develop clustering techniques for the Bearing Only Target Localization (BOTL) problem. Our scenario has a receiver move along some path, generating bearing estimates on some interval. Multiple emitting targets exist in the…
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…
This paper addresses the task of Unmanned Aerial Vehicles (UAV) visual geo-localization, which aims to match images of the same geographic target taken by different platforms, i.e., UAVs and satellites. In general, the key to achieving…
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…