相关论文: Localizability-Constrained Deployment of Mobile Ro…
In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly strongly depends on the network geometry. This motivates the problem of planning robot…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
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…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
Location-aware networks are of great importance and interest in both civil and military applications. This paper determines the localization accuracy of an agent, which is equipped with an antenna array and localizes itself using wireless…
Important applications in robotic and sensor networks require distributed algorithms to solve the so-called relative localization problem: a node-indexed vector has to be reconstructed from measurements of differences between neighbor…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…