Related papers: Stealthy Optimal Range-Sensor Placement for Target…
Data-target pairing is an important step towards multi-target localization for the intelligent operation of unmanned systems. Target localization plays a crucial role in numerous applications, such as search, and rescue missions, traffic…
We consider the centralized detection of an intruder, whose location is modeled as uniform across a specified set of points, using an optimally placed team of sensors. These sensors make conditionally independent observations. The local…
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.…
Continuously optimizing sensor placement is essential for precise target localization in various military and civilian applications. While information theory has shown promise in optimizing sensor placement, many studies oversimplify sensor…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…
We consider a registration-based approach for localizing sensor networks from range measurements. This is based on the assumption that one can find overlapping cliques spanning the network. That is, for each sensor, one can identify…
The \emph{sensor placement problem} for stochastic linear inverse problems consists of determining the optimal manner in which sensors can be employed to collect data. Specifically, one wishes to place a limited number of sensors over a…
We study set-valued decision rules in which performance is defined by the inclusion of the top-$p$ hypotheses, rather than only the single best or true hypothesis. This criterion is motivated by sensor selection for target tracking, where…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
The question tackled here is the time allocation of radars in a multitarget environment. At a given time radars can only observe a limited part of the space; it is therefore necessary to move their axis with respect to time, in order to be…
In this paper we study the problem of tracking an object moving randomly through a network of wireless sensors. Our objective is to devise strategies for scheduling the sensors to optimize the tradeoff between tracking performance and…
This paper studies sensor placement when detection performance varies stochastically due to environmental factors over space and time and false alarms are present, but a filter is used to attenuate the effect. We introduce a unified model…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
This paper presents a methodology for optimal target detection in a multi sensor surveillance system. The system consists of mobile sensors that guard a rectangular surveillance zone crisscrossed by moving targets. Targets percolate the…
We study the heterogeneous wireless sensor networks (WSNs) and propose the necessary condition of the optimal sensor deployment. Similar to that in homogeneous WSNs, the necessary condition implies that every sensor node location should…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…