相关论文: RSS-based Cooperative Localization and Orientation…
The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…
Utilization of directional antennas is a promising solution for efficient spectrum sensing and accurate source localization and tracking. Spectrum sensors equipped with directional antennas should constantly scan the space in order to track…
It has been shown that cooperative localization is capable of improving both the positioning accuracy and coverage in scenarios where the global positioning system (GPS) has a poor performance. However, due to its potentially excessive…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent localization framework using a factor-graph representation…
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…
The localization of directional RF emitters presents significant challenges for electronic warfare applications. Traditional localization methods, designed for omnidirectional emitters, experience degraded performance when applied to…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
Received signal strength (RSS)--based cooperative localization has gained significant attention due to its straightforward system architectures and cost-effectiveness. In this paper, we propose Cooperative Localization Techniques (with…
This paper studies the use of directional antennas for received signal strength difference (RSSD) based localization using ultra-wideband and demonstrates the achievable accuracy with this localization method applied to UWB. As introduced…
This paper presents a novel indoor positioning approach that leverages antenna radiation pattern characteristics through Received Signal Strength Indication (RSSI) measurements in a single-antenna system. By rotating the antenna or…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
We introduce a novel received signal strength intensity (RSSI)-based positioning method using fluid antenna systems (FAS), leveraging their inherent channel correlation properties to improve location accuracy. By enabling a single antenna…
Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
This paper presents a neural-enhanced probabilistic model and corresponding factor graph-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The introduced hybrid probabilistic model consists of…
Wireless localization is a key requirement for many applications. It concerns position estimation of mobile nodes (agents) relative to fixed nodes (anchors) from wireless channel measurements. Cooperative localization is an advanced concept…
This paper presents a factor graph formulation and particle-based sum-product algorithm (SPA) for robust sequential localization in multipath-prone environments. The proposed algorithm jointly performs data association, sequential…