Related papers: Distributed Algorithm for Cooperative Joint Locali…
Many satellite communication systems operating today employ low cost upconverters or downconverters which create phase noise. This noise can severely limit the information rate of the system and pose a serious challenge for the detection…
We consider a joint multiple-antenna radar-communications system in a co-existence scenario. Contrary to conventional applications, wherein at least the radar waveform and communications channel are known or estimated \textit{a priori}, we…
This paper studies distributed resource allocation problem in multi-agent systems, where all the agents cooperatively minimize the sum of their cost functions with global resource constraints over stochastic communication networks. This…
Observations collected by agents in a network may be unreliable due to observation noise or interference. This paper proposes a distributed algorithm that allows each node to improve the reliability of its own observation by relying solely…
This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed…
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation…
In this paper, we investigate a distributed multi-input multi-output and orthogonal frequency division multiplexing (MIMO-OFDM) dual-function radar-communication (DFRC) system, which enables simultaneous communication and sensing in…
This paper introduces a high-precision indoor positioning and tracking method that utilizes multi-site single-input single-output (SISO) radar systems. We propose a novel velocity synthesis-assisted (VSA) localization algorithm that…
In order to further exploit the potential of joint multi-antenna radar-communication (RadCom) system, we propose two transmission techniques respectively based on separated and shared antenna deployments. Both techniques are designed to…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
Distributed algorithms have been playing an increasingly important role in many applications such as machine learning, signal processing, and control. Significant research efforts have been devoted to developing and analyzing new algorithms…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
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 this paper, we study the transmit signal optimization in a multiple-input multiple-output (MIMO) radar system for sensing the angle information of multiple targets via their reflected echo signals. We consider a challenging and practical…
In this article we analyze the state-of-the-art in multilateration - the family of localization methods enabled by the range difference observations. These methods are computationally efficient, signal-independent, and flexible with regards…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
We study joint compression and detection in distributed sensing systems motivated by emerging applications such as IoT-based localization. Two spatially separated sensors observe noisy signals and can exchange only a $k$-bit message over a…
This paper proposes a distributed algorithm for average consensus in a multi-agent system under a fixed bidirectional communication topology, in the presence of malicious agents (nodes) that may try to influence the average consensus…