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How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this…
Satellite systems face a significant challenge in effectively utilizing limited communication resources to meet the demands of ground network traffic, characterized by asymmetrical spatial distribution and time-varying characteristics.…
In urban environments, global navigation satellite system (GNSS) positioning is often compromised by signal blockages and multipath effects caused by buildings, leading to significant positioning errors. To address this issue, this study…
Low earth orbit (LEO) satellite constellations are becoming a cornerstone of next-generation satellite networks, enabling worldwide high-precision navigation and high-quality remote sensing. This paper proposes a novel dual-function LEO…
In Global Navigation Satellite System (GNSS)-denied environments, terrestrial signals of opportunity (SoOP) offer an alternative for positioning, but synchronization impairments such as clock offsets, drift, and multipath limit performance.…
Commercial off-the-shelf (COTS) Global Navigation Satellite System (GNSS) receivers face significant limitations under high-dynamic conditions, particularly in high-acceleration environments such as those experienced by launch vehicles.…
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized…
Ray tracing (RT) simulations require accurate transmitter (TX) and receiver (RX) location information from real-world measurements to accurately characterize wireless propagation behavior in an environment. Such wireless propagation…
Many location-based services use Received Signal Strength (RSS) measurements due to their universal availability. In this paper, we study the association of a large number of low-cost Internet-of-Things (IoT) sensors and their possible…
This short communication addresses the problem of elliptic localization with outlier measurements. Outliers are prevalent in various location-enabled applications, and can significantly compromise the positioning performance if not…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
Global Navigation Satellite Systems (GNSS) provide Positioning, Navigation, and Timing (PNT) information to over 4 billion devices worldwide. Despite its pervasive use in safety critical and high precision applications, GNSS remains…
Multi orbit low earth orbit (LEO) satellites communication is envisioned as a key infrastructure to deliver global coverage, enabling future services from space air ground integrated networks.However, the optimized design of LEO which…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…
This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
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.…
In this paper, a 2-stage robust distributed algorithm is proposed for cooperative sensor network localization using time of arrival (TOA) data without identification of non-line of sight (NLOS) links. In the first stage, to overcome the…
Low Earth orbit (LEO) satellites are leveraged to support new position, navigation, and timing (PNT) service alternatives to GNSS. These alternatives require accurate propagation of satellite position and velocity with a realistic…