相关论文: DCOOL-NET: Distributed cooperative localization fo…
We study non-convex distributed optimization problems where a set of agents collaboratively solve a separable optimization problem that is distributed over a time-varying network. The existing methods to solve these problems rely on (at…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
In this paper, we address the problem of simultaneous classification and estimation of hidden parameters in a sensor network with communications constraints. In particular, we consider a network of noisy sensors which measure a common…
In decentralized consensus optimization, a connected network of agents collaboratively minimize the sum of their local objective functions over a common decision variable, where their information exchange is restricted between the…
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…
We propose a novel distributed expectation maximization (EM) method for non-cooperative RF device localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target.…
We present an algorithm for boundary approximation in locally-linked sensor networks that communicate with a remote monitoring station. Delaunay triangulations and Voronoi diagrams are used to generate a sensor communication network and…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
We propose a novel decomposition framework for the distributed optimization of Difference Convex (DC)-type nonseparable sum-utility functions subject to coupling convex constraints. A major contribution of the paper is to develop for the…
We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…
We study asymptotic performance of distributed detection in large scale connected sensor networks. Contrasting to the canonical parallel network where a single node has access to local decisions from all other nodes, each node can only…
With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…
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…
Quantum sensors are used for precision timekeeping, field sensing, and quantum communication. Comparisons among a distributed network of these sensors are capable of, for example, synchronizing clocks at different locations. The performance…
This paper investigates the Sensor Network Localization (SNL) problem, which seeks to determine sensor locations based on known anchor locations and partially given anchors-sensors and sensors-sensors distances. Two primary methods for…
In this article we consider the problems of distributed detection and estimation in wireless sensor networks. In the first part, we provide a general framework aimed to show how an efficient design of a sensor network requires a joint…
Motivated by emerging applications in wireless sensor networks and large-scale data processing, we consider distributed optimization over directed networks where the agents communicate their information locally to their neighbors to…
We propose an algorithm for the Wireless Sensor Network localization problem, which is based on the well-known algorithmic framework of Alternating Minimization. We start with a non-smooth and non-convex minimization, and transform it into…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…