相关论文: Cooperative Localization with Angular Measurements…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL approaches: Centralized Cooperative Localization (CCL),…
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…
Accurate location information is essential for many wireless sensor network (WSN) applications. A location-aware WSN generally includes two types of nodes: sensors whose locations to be determined and anchors whose locations are known a…
Accurate and reliable localization is crucial for various wireless communication applications. Numerous studies have proposed accurate localization methods using hybrid received signal strength (RSS) and angle of arrival (AOA) measurements.…
Accurate parameter estimation such as angle of arrival (AOA) is essential to enhance the performance of integrated sensing and communication (ISAC) in mmWave multiple-input multiple-output (MIMO) systems. This work presents a sensing-aided…
Cooperative 3D perception via Vehicle-to-Everything communication is a promising paradigm for enhancing autonomous driving, offering extended sensing horizons and occlusion resolution. However, the practical deployment of existing methods…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Autonomous Vehicles (AVs) rely on individual perception systems to navigate safely. However, these systems face significant challenges in adverse weather conditions, complex road geometries, and dense traffic scenarios. Cooperative…
Relative vehicle positioning methods can contribute to safer and more efficient autonomous driving by enabling collision avoidance and platooning applications. For full automation, these applications require cm-level positioning accuracy…
Accurate wireless localization underpins applications from autonomous systems to smart infrastructure. We study the mean-squared error (MSE) and conditional MSE (CMSE) of a practical fusion-based estimator in d-dimensional, stationary…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
We present a novel parametric message representation for belief propagation (BP) that provides a novel grid-based way to address the cooperative localization problem in wireless networks. The proposed Grid-BP approach allows faster…
Perceptive mobile network (PMN) is an emerging concept for next-generation wireless networks capable of conducting integrated sensing and communication (ISAC). A major challenge for realizing high performance sensing in PMNs is how to deal…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
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…
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
This paper considers N mobile nodes that move together in the vicinity of each other, whose initial poses as well as subsequent movements must be accurately tracked in real time with the assist of M(>=3) reference nodes. By engaging the…