相关论文: Cooperative Simultaneous Localization and Synchron…

Synchronization is a key functionality in wireless network, enabling a wide variety of services. We consider a Bayesian inference framework whereby network nodes can achieve phase and skew synchronization in a fully distributed way. In…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem, an extension to the classical MAPF problem, where cooperative behavior is incorporated. In this setting, a group of autonomous agents operate in a shared environment…

In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…

In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…

Detecting and localizing leaks in water distribution network systems is an important topic with direct environmental, economic, and social impact. Our paper is the first to explore the use of factor graph optimization techniques for leak…

To enable Integrated Communications and Sensing (ICAS) in a peer-to-peer vehicular network, precise synchronization in frequency and phase among the communicating entities is required. In addition, self-driving cars need accurate position…

This paper investigates a downlink multi-satellite integrated sensing and communication (ISAC) network, in which multiple satellites simultaneously transmit ISAC signals to provide communication services to ground user equipments and enable…

We propose a cooperative sensing framework for mmWave ISAC networks in which a target is sensed by its nearest BS while opportunistically exploiting bistatic echoes from neighboring BSs. Cooperation requires no dedicated resources or…

The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…

Effective resource allocation in sensor networks, IoT systems, and distributed computing is essential for applications such as environmental monitoring, surveillance, and smart infrastructure. Sensors or agents must optimize their resource…

Learning the relationships between various entities from time-series data is essential in many applications. Gaussian graphical models have been studied to infer these relationships. However, existing algorithms process data in a batch at a…

The problem of clock offset estimation in a two-way timing exchange regime is considered when the likelihood function of the observation time stamps is exponentially distributed. In order to capture the imperfections in node oscillators,…

Location awareness is a key factor for a wealth of wireless indoor applications. Its provision requires the careful fusion of diverse information sources. For agents that use radio signals for localization, this information may either come…

We present the first distributed optimization algorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM)…

Simultaneous localization and mapping (SLAM) during communication is emerging. This technology promises to provide information on propagation environments and transceivers' location, thus creating several new services and applications for…

In this work, we propose a hybrid approach to synchronize large scale networks. In particular, we draw on Kalman Filtering (KF) along with time-stamps generated by the Precision Time Protocol (PTP) for pairwise node synchronization.…

Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…

This letter investigates target position estimation in integrated sensing and communication networks composed of multiple cooperating monostatic base stations (BSs). Each BS employs a MIMO-orthogonal time-frequency space (OTFS) scheme,…

We study the problem of cooperative inference where a group of agents interact over a network and seek to estimate a joint parameter that best explains a set of observations. Agents do not know the network topology or the observations of…