Related papers: Passive Sonar Sensor Placement for Undersea Survei…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…
We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Given a linear dynamical system affected by noise, we study the problem of optimally placing sensors (at design-time) subject to a sensor placement budget constraint in order to minimize the trace of the steady-state error covariance of the…
In this letter, we consider the problem of detecting a high dimensional signal based on compressed measurements with physical layer secrecy guarantees. We assume that the network operates in the presence of an eavesdropper who intends to…
Position verification in wireless sensor networks (WSNs) is quite tricky in presence of attackers (malicious sensor nodes), who try to break the verification protocol by reporting their incorrect positions (locations) during the…
As the world becomes more and more interconnected, our everyday objects become part of the Internet of Things, and our lives get more and more mirrored in virtual reality, where every piece of~information, including misinformation, fake…
This work presents a procedure that can quickly identify and isolate methane emission sources leading to expedient remediation. Minimizing the time required to identify a leak and the subsequent time to dispatch repair crews can…
Reliable detection and tracking in active sonar require accurate and efficient learning of the acoustic multipath background environment. Conventionally, background learning is performed after transforming measurements into the…
When securing complex infrastructures or large environments, constant surveillance of every area is not affordable. To cope with this issue, a common countermeasure is the usage of cheap but wide-ranged sensors, able to detect suspicious…
This article studies two problems related to observability and efficient constrained sensor placement in linear time-invariant discrete-time systems with partial state observations. (i) We impose the condition that both the set of outputs…
We consider the problem of estimating the state of a noisy linear dynamical system when an unknown subset of sensors is arbitrarily corrupted by an adversary. We propose a secure state estimation algorithm, and derive (optimal) bounds on…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
Methods for source detection in high noise environments are important for single-photon emission computed tomography (SPECT) medical imaging and especially crucial for homeland security applications, which is our main interest. In the…
This paper regards the problem of optimally placing unreliable sensors in a one-dimensional environment. We assume that sensors can fail with a certain probability and we minimize the expected maximum distance from any point in the…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
Stochastic resonance (SR), a phenomenon originally introduced in climate modeling, enhances signal detection by leveraging optimal noise levels within non-linear systems. Traditional SR techniques, mainly based on single-threshold…