Related papers: Near-optimal Sensor Placement for Detecting Stocha…
The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…
Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
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 present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represented with non-Gaussian forms. Our approach can handle noisy…
The process of dynamic state estimation (filtering) based on point process observations is in general intractable. Numerical sampling techniques are often practically useful, but lead to limited conceptual insight about optimal…
Consider $n$ mobile sensors placed independently at random with the uniform distribution on a barrier represented as the unit line segment $[0,1]$. The sensors have identical sensing radius, say $r$. When a sensor is displaced on the line a…
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…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
Sensor placement optimization methods have been studied extensively. They can be applied to a wide range of applications, including surveillance of known environments, optimal locations for 5G towers, and placement of missile defense…
The paper presents a distributed algorithm, called Prediction-based Opportunistic Sensing for Resilient and Efficient Sensor Networks (POSE.R), where the sensor nodes utilize predictions of the targets positions to probabilistically control…
Localization is one of the most important factor in wireless sensor networks as many applications demand position information of sensors. Recently there is an increasing interest on the use of mobile anchors for localizing sensors. Most of…
Optimal sensor and actuator selection is a central challenge in high-dimensional estimation and control. Nearly all subsequent control decisions are affected by these sensor/actuator locations, and optimal placement amounts to an…
We propose a method to optimally position a sensor system, which consists of multiple sensors, each has limited range and viewing angle, and they may fail with a certain failure rate. The goal is to find the optimal locations as well as the…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…
The small amount of measurements in distribution grids makes their monitoring more difficult. Topological observability may not be possible, and thus, pseudo-measurements are needed to perform state estimation, which is required to control…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
This paper proposes two new measures applicable in a spatial bipartite network model: coverage and coverage robustness. The bipartite network must consist of observer nodes, observable nodes, and edges that connect observer nodes to…