Related papers: SMDS-based Rigid Body Localization
To improve the localization precision of unmanned aerial vehicle (UAV), a novel framework is established by jointly utilizing multiple measurements of received signal strength (RSS) from multiple base stations (BSs) and multiple points on…
Accurate and reliable localization is crucial for various wireless communication applications. Numerous studies have proposed accurate localization methods using hybrid received signal strength (RSS) and angle of arrival (AOA) measurements.…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
Within the standard model of many-body localization, i.e., the disordered chain of spinless fermions, we investigate how the interaction affects the many-body states in the basis of noninteracting localized Anderson states. From this…
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…
The magnetic near-field provides a suitable means for indoor localization, due to its insensitivity to the environment and strong spatial gradients. We consider indoor localization setups consisting of flat coils, allowing for convenient…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
While pole-like structures are widely recognized as stable geometric anchors for long-term robot localization, their identification reliability degrades significantly under Pole-at-Distance (Pad) observations typical of large-scale urban…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
Received Signal Strength (RSS) is considered as a promising measurement for indoor positioning. Lots of RSS-based localization methods have been proposed by its convenience and low cost. This paper focuses on two challenging issues in…
Reliability is a key factor for realizing safety guarantee of full autonomous robot systems. In this paper, we focus on reliability in mobile robot localization. Monte Carlo localization (MCL) is widely used for mobile robot localization.…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Localization is a fundamental challenge for any wireless network of nodes, in particular when the nodes are mobile. We present an extension of the classical Multidimensional scaling (MDS) for an anchorless network of mobile nodes, wherein…
We construct an analytic theory of many-body localization (MBL) in random spin chains. The approach is based on a first quantized perspective in which MBL is understood as a localization phenomenon on the high dimensional lattice defined by…
Distance estimation is vital for localization and many other applications in wireless sensor networks (WSNs). Particularly, it is desirable to implement distance estimation as well as localization without using specific hardware in low-cost…
In this paper, we study performance limits of sensor localization from a novel perspective. Specifically, we consider the Cramer-Rao Lower Bound (CRLB) in single-hop sensor localization using measurements from received signal strength…