Related papers: Distributed Algorithm for Cooperative Joint Locali…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
This paper proposes a distributed attack detection and mitigation technique based on distributed estimation over a multi-agent network, where the agents take partial system measurements susceptible to (possible) biasing attacks. In…
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.…
Cooperative relaying is utilized as an efficient method for data communication in wireless sensor networks and the Internet of Things (IoT). However, sometimes due to the necessity of multi-hop relaying in such communication networks, it is…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…
This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an undirected network, we consider a setup where each node…
Efficient utilization of licensed spectrum in the cognitive radio network is challenging due to lack of coordination among the Secondary Users (SUs). Distributed algorithms proposed in the literature aim to maximize the network throughput…
We investigate cooperative radar and communications signaling. Each system typically considers the other system a source of interference. Consequently, the traditional solution is to isolate the two systems spectrally or spatially. By…
Radar sensing will be integrated into the 6G communication system to support various applications. In this integrated sensing and communication system, a radar target may also be a communication channel scatterer. In this case, the radar…
The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…
We propose two novel algorithms for distributed and location-free boundary recognition in wireless sensor networks. Both approaches enable a node to decide autonomously whether it is a boundary node, based solely on connectivity information…
We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel…
The paper considers a scenario where a base station (BS), equipped with a large-scale antenna array, execute, using the same frequency range, both communication with mobile users and radar surveillance of the surrounding environment,…
In this paper, a distributed stochastic approximation algorithm is studied. Applications of such algorithms include decentralized estimation, optimization, control or computing. The algorithm consists in two steps: a local step, where each…
The joint detection and tracking of a moving target embedded in an unknown disturbance represents a key feature that motivates the development of the cognitive radar paradigm. Building upon recent advancements in robust target detection…
We consider multiple-input multiple-output (MIMO) radar systems with widely-spaced antennas. Such antenna configuration facilitates capturing the inherent diversity gain due to independent signal dispersion by the target scatterers. We…
Recently, passive unmanned aerial vehicle (UAV) localization has become popular due to mobility and convenience. In this paper, we consider a scenario of using distributed drone cluster to estimate the position of a passive emitter via…
We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors. In an effort to derive a formulation for practical settings, we consider limited and unknown…