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Recent works on SLAM extend their pose graphs with higher-level semantic concepts like Rooms exploiting relationships between them, to provide, not only a richer representation of the situation/environment but also to improve the accuracy…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…
In this paper, we develop a \textit{distributed} algorithm to localize an arbitrary number of agents moving in a bounded region of interest. We assume that the network contains \textit{at least one} agent with known location (hereinafter…
Robotic platforms have become essential for marine operations by providing regular and continuous access to offshore assets, such as underwater infrastructure inspection, environmental monitoring, and resource exploration. However, the…
Recent advances in cross-view geo-localization (CVGL) methods have shown strong potential for supporting unmanned aerial vehicle (UAV) navigation in GNSS-denied environments. However, existing work predominantly focuses on matching UAV…
Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The focus is on adapting the technique to handle the challenging…
In this paper, we investigate a cell-free massive multiple-input multiple-output system, which exhibits great potential in enhancing the capabilities of next-generation mobile communication networks. We first study the distributed…
The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…
Trust region optimization-based received signal strength indicator (RSSI) interference source localization methods have been widely used in low-altitude research. However, these methods often converge to local optima in complex…
Underwater acoustic target recognition is critical for maritime applications, yet it faces challenges arising from the complex and diverse nature of ship-radiated noise. To address these issues, we propose a robust deep learning-based…
The development of vehicle-to-vehicle (V2V) communication facil-itates the study of cooperative positioning (CP) techniques for vehicular applications. The CP methods can improve the posi-tioning availability and accuracy by inter-vehicle…
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…
Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…
This paper addresses the problem of distributed event localization using noisy range measurements with respect to sensors with known positions. Event localization is fundamental in many wireless sensor network applications such as homeland…
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…
Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…
Effective solutions for intelligent data collection in terrestrial cellular networks are crucial, especially in the context of Internet of Things applications. The limited spectrum and coverage area of terrestrial base stations pose…