Related papers: Set-Membership Localization via Range Measurements
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…
We consider the problem of estimating the locations of a set of points in a k-dimensional euclidean space given a subset of the pairwise distance measurements between the points. We focus on the case when some fraction of these measurements…
In this paper, we study anchor selection for range-based localization under unknown-but-bounded measurement errors. We start from the convex localization set $\X=\Xd\cap\Hset$ recently introduced in \cite{CalafioreSIAM}, where $\Xd$ is a…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
This manuscript is a preliminary pre-print version of a journal submission by the authors, revisiting the problem of range measurement based localization of a signal source or a sensor. The major geometric difficulty of the problem comes…
We consider the problem of positioning a cloud of points in the Euclidean space $\mathbb{R}^d$, using noisy measurements of a subset of pairwise distances. This task has applications in various areas, such as sensor network localization and…
Set-membership estimation is usually formulated in the context of set-valued calculus and no probabilistic calculations are necessary. In this paper, we show that set-membership estimation can be equivalently formulated in the probabilistic…
We study the inverse problem of estimating n locations $t_1, ..., t_n$ (up to global scale, translation and negation) in $R^d$ from noisy measurements of a subset of the (unsigned) pairwise lines that connect them, that is, from noisy…
We consider the sound ranging, or source localization, problem --- find the unknown source-point from known moments when the spherical wave of linearly, with time, increasing radius reaches known sensor-points --- in some non-proper metric…
Motivated by the increasing need to monitor safety-critical systems subject to uncertainties, a novel set-membership approach is proposed to estimate the state of a dynamical system with unknown-but-bounded exogenous inputs. The proposed…
In this paper, the multiple-source ellipsoidal localization problem based on acoustic energy measurements is investigated via set-membership estimation theory. When the probability density function of measurement noise is…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
We address the problem of detection and estimation of one or two change-points in the mean of a series of random variables. We use the formalism of set estimation in regression: To each point of a design is attached a binary label that…
We study the problem of determining the configuration of $n$ points by using their distances to $m$ nodes, referred to as anchor nodes. One sampling scheme is Nystrom sampling, which assumes known distances between the anchors and between…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
We address the problem of one dimensional segment detection and estimation, in a regression setup. At each point of a fixed or random design, one observes whether that point belongs to the unknown segment or not, up to some additional…
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…
Many uncertainty sets encountered in control systems analysis and design can be expressed in terms of semialgebraic sets, that is as the intersection of sets described by means of polynomial inequalities. Important examples are for instance…
This paper considers node localization in static sensor networks using range-only measurements. Similar to state- of-the-art algorithms, such as ECHO and DILOC, we rely on barycentric coordinates of the nodes to transform the non-convex…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…