相关论文: New Closed-form Joint Localization and Synchroniza…

This paper considers the smooth bilevel optimization in which the lower-level problem is strongly convex and the upper-level problem is possibly nonconvex. We focus on the stochastic setting where the algorithm can access the unbiased…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

We investigate an alternative solution method to the joint signal-beamformer optimization problem considered by Setlur and Rangaswamy[1]. First, we directly demonstrate that the problem, which minimizes the received noise, interference, and…

This paper explores the potential of 5G new radio (NR) Time-of-Arrival (TOA) data for indoor drone localization under different scenarios and conditions when fused with inertial measurement unit (IMU) data. Our approach involves performing…

Cross-View Geo-localisation (CVGL) matches ground imagery against satellite tiles to give absolute position fixes, an alternative to GNSS where signals are occluded, jammed, or spoofed. Recent fine-grained CVGL methods regress sub-tile…

Fluid antenna (FA) technology has emerged as a promising approach in wireless communications due to its capability of providing increased degrees of freedom (DoFs) and exceptional design flexibility. This paper addresses the challenge of…

Stochastic approximation (SA) is a powerful class of iterative algorithms for nonlinear root-finding that can be used for minimizing a loss function, $L(\boldsymbol{\theta})$, with respect to a parameter vector $\boldsymbol{\theta}$, when…

Many applications require positioning. Time of Flight (ToF) methods calculate distances by measuring the propagation time of signals. We present a novel ToF localization method. Our new approach works infrastructure-less, without…

Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…

In temporal ordered clustering, given a single snapshot of a dynamic network in which nodes arrive at distinct time instants, we aim at partitioning its nodes into $K$ ordered clusters $\mathcal{C}_1 \prec \cdots \prec \mathcal{C}_K$ such…

We consider a wireless source localization network in which a target node emits localization signals that are used by anchor nodes to estimate the target node position. In addition to target and anchor nodes, there can also exist…

This paper proposes an accelerated version of Feasible Sequential Linear Programming (FSLP): the AA($d$)-FSLP algorithm. FSLP preserves feasibility in all intermediate iterates by means of an iterative update strategy which is based on…

Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…

This paper introduces a novel multi-objective integrated sensing and communications (ISAC) framework to enable collaborative wireless sensing in conjunction with over-the-air federated-edge learning (OTA-FEEL). The framework enables…

In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative impact on SLAM problems causing an inferior trajectory to be…

The problem of clock offset estimation in a two way timing message exchange regime is considered when the likelihood function of the observation time stamps is Gaussian, exponential or log-normally distributed. A parametrized solution to…

Nowadays, accurate localization plays an essential role in many fields, like target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex…

We propose a fast proximal Newton-type algorithm for minimizing regularized finite sums that returns an $\epsilon$-suboptimal point in $\tilde{\mathcal{O}}(d(n + \sqrt{\kappa d})\log(\frac{1}{\epsilon}))$ FLOPS, where $n$ is number of…

We address the joint estimation of the number of targets and their direction-of-arrivals (DoAs) using antenna arrays. Target-number estimation can be formulated as a model-order selection problem and solved with the information theoretic…

We address the sensor network localization problem given noisy range measurements between pairs of nodes. We approach the non-convex maximum-likelihood formulation via a known simple convex relaxation. We exploit its favorable optimization…