相关论文: DIeSEL: DIstributed SElf-Localization of a network…
We show that the sensor self-localization problem can be cast as a static parameter estimation problem for Hidden Markov Models and we implement fully decentralized versions of the Recursive Maximum Likelihood and on-line…
Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little attention has been paid toward advancing the underlying…
How to self-localize large teams of underwater nodes using only noisy range measurements? How to do it in a distributed way, and incorporating dynamics into the problem? How to reject outliers and produce trustworthy position estimates? The…
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…
In this paper, we aim to design and analyze distributed Bayesian estimation algorithms for sensor networks. The challenges we address are to (i) derive a distributed provably-correct algorithm in the functional space of probability…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
This paper studies the distributed state estimation in sensor network, where $m$ sensors are deployed to infer the $n$-dimensional state of a linear time-invariant (LTI) Gaussian system. By a lossless decomposition of optimal steady-state…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
In this paper, we develop a \textit{distributed} algorithm to localize an arbitrary number of agents moving in a bounded region of interest. We assume that the network contains \textit{at least one} agent with known location (hereinafter…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
This paper considers the problem to plan mobile sensor networks for target localization task in GPS-denied environments. Most researches on mobile sensor networks assume that the states of the sensing agents are precisely known during their…
We propose a distributed deployment solution for a group of mobile agents that should provide a service for a dense set of targets. The agents are heterogeneous in a sense that their quality of service (QoS), modeled as a spatial Gaussian…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
This paper studies the optimal unmanned aerial vehicle (UAV) placement problem for wireless networking. The UAV operates as a flying wireless relay to provide coverage extension for a base station (BS) and deliver capacity boost to a user…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
The availability of accurate localization is critical for multi-robot exploration strategies; noisy or inconsistent localization causes failure in meeting exploration objectives. We aim to achieve high localization accuracy with…
This work presents distributed algorithms for estimation of time-varying random fields over multi-agent/sensor networks. A network of sensors makes sparse and noisy local measurements of the dynamic field. Each sensor aims to obtain…