Related papers: Stealthy Optimal Range-Sensor Placement for Target…
Accurate network topology information is critical for secure operation of smart power distribution systems. Line outages can change the operational topology of a distribution network. As a result, topology identification by detecting…
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…
For mobile robots range sensors are important to perceive the environment. Sensors that can measure in a 3D volume are especially significant for outdoor robotics, because this environment is often highly unstructured. The quality of the…
The goal of compressive sensing is efficient reconstruction of data from few measurements, sometimes leading to a categorical decision. If only classification is required, reconstruction can be circumvented and the measurements needed are…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
We consider the exploration problem: an agent equipped with a depth sensor must map out a previously unknown environment using as few sensor measurements as possible. We propose an approach based on supervised learning of a greedy…
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…
In the context of distributed estimation, we consider the problem of sensor collaboration, which refers to the act of sharing measurements with neighboring sensors prior to transmission to a fusion center. While incorporating the cost of…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
This paper considers node localization in static sensor networks using range-only measurements. Similar to state- of-the-art algorithms, such as ECHO and DILOC, we rely on barycentric coordinates of the nodes to transform the non-convex…
In networked systems, monitoring devices such as sensors are typically deployed to monitor various target locations. Targets are the points in the physical space at which events of some interest, such as random faults or attacks, can occur.…
Given a set of objects with durations (jobs) that cover a base region, can we schedule the jobs to maximize the duration the original region remains covered? We call this problem the sensor cover problem. This problem arises in the context…
Hybrid localization in GNSS-challenged environments using measured ranges and angles is becoming increasingly popular, in particular with the advent of multimodal communication systems. Here, we address the hybrid network localization…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
Bluetooth Low Energy systems are one of the most popular solutions used for indoor localization. Unfortunately their accuracy might not be sufficient for some of the applications. One way to reduce localization errors is hybrid positioning,…
We consider the problem of using multiple agents to harvest data from a collection of sensor nodes (targets) scattered across a two-dimensional environment. These targets transmit their data to the agents that move in the space above them,…
We propose a simple yet efficient scheme for a set of energy-harvesting sensors to establish secure communication with a common destination (a master node). An eavesdropper attempts to decode the data sent from the sensors to their common…
Signal localization is a spectrum sensing problem that jointly detects the presence of a signal and estimates a center frequency and bandwidth. This is a step beyond most spectrum sensing work which estimates "present" or "not present"…
Sparse wideband sensor array design for sensor location optimisation is highly nonlinear and it is traditionally solved by genetic algorithms, simulated annealing or other similar optimization methods. However, this is an extremely…