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Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Pinching antenna (PA) systems have recently emerged as a promising architecture for reconfigurable wireless communications by enabling flexible antenna placement along a dielectric waveguide. However, existing works typically assume perfect…
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…
The validation of data from sensors has become an important issue in the operation and control of modern industrial plants. One approach is to use knowledge based techniques to detect inconsistencies in measured data. This article presents…
In this paper we study the identification of an event region $X$ within a larger region $Y$, in which the sensors are distributed by a Poisson process of density $\lambda$ to detect this event region, i.e., its boundary. The model of sensor…
In this paper, we exploit the theory of compressive sensing to perform detection of a random source in a dense sensor network. When the sensors are densely deployed, observations at adjacent sensors are highly correlated while those…
We study how to secure distributed filters for linear time-invariant systems with bounded noise under false-data injection attacks. A malicious attacker is able to arbitrarily manipulate the observations for a time-varying and unknown…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
In this paper, secure, remote estimation of a linear Gaussian process via observations at multiple sensors is considered. Such a framework is relevant to many cyber-physical systems and internet-of-things applications. Sensors make…
Vehicles with driving automation are increasingly being developed for deployment across the world. However, the onboard sensing and perception capabilities of such automated or autonomous vehicles (AV) may not be sufficient to ensure safety…
Drones will have extensive use cases across various commercial, government, and military sectors, ranging from delivery of consumer goods to search and rescue operations. To maintain the safety and security of people and infrastructure, it…
The vivid success of the emerging wireless sensor technology (WSN) gave rise to the notion of localization in the communications field. Indeed, the interest in localization grew further with the proliferation of the wireless sensor network…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
The identification of anomalies is a critical component of operating complex, and possibly large-scale and geo-graphically distributed cyber-physical systems. While designing anomaly detectors, it is common to assume Gaussian noise models…
Sensors in buildings are used for a wide variety of applications such as monitoring air quality, contaminants, indoor temperature, and relative humidity. These are used for accessing and ensuring indoor air quality, and also for ensuring…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
This paper addresses a detection problem where several spatially distributed sensors independently observe a time-inhomogeneous stochastic process. The task is to decide between two hypotheses regarding the statistics of the observed…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…