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This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…

Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and…

We address the problem of localizing non-collaborative WiFi devices in a large region. Our main motive is to localize humans by localizing their WiFi devices, e.g. during search-and-rescue operations after a natural disaster. We use an…

A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the…

We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…

This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent localization framework using a factor-graph representation…

Due to the high mobility and easy deployment, unmanned aerial vehicles (UAVs) have attracted much attention in the field of wireless communication and positioning. To meet the challenges of lack of infrastructure coverage, uncertain sensor…

This paper studies a multi-UAV wireless network, in which multiple UAV users share the same spectrum to send individual messages to their respectively associated ground base stations (GBSs). The UAV users aim to optimize their locations to…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

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,…

This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…

We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…

We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…

In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms…

Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on…

To address the ever-growing connectivity demands of wireless communications, the adoption of ingenious solutions, such as Unmanned Aerial Vehicles (UAVs) as mobile Base Stations (BSs), is imperative. In general, the location of a UAV Base…