相关论文: A Message Passing based Adaptive PDA Algorithm for…
The problem of mobile position estimation in multipath scenarios is addressed. A low-complexity, fully-adaptive algorithm is proposed, based on the pseudo maximum likelihood approach. The processing is done exclusively on-board at the…
This paper addresses the challenge of achieving robust and reliable positioning of a radio device carried by an agent, in scenarios where direct line-of-sight (LOS) radio links are obstructed by the agent. We propose a Bayesian estimation…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
In this paper we consider 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…
Reliable and robust positioning of radio devices remains a challenging task due to multipath propagation, hardware impairments, and interference from other radio transmitters. A frequently overlooked but critical factor is the agent itself,…
This paper considers the problem of detecting and tracking multiple maneuvering targets, which suffers from the intractable inference of high-dimensional latent variables that include target kinematic state, target visibility state, motion…
In this paper, we propose a radio-based passive target tracking algorithm using multipath measurements, including the angle of arrival and relative distance. We focus on a scenario in which a mobile receiver continuously receives radio…
Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
Distributed MIMO and integrated sensing and communication are expected to be key technologies in future wireless systems, enabling reliable, low-latency communication and accurate localization. Dedicated localization solutions must support…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
Multi-agent trajectory forecasting in autonomous driving requires an agent to accurately anticipate the behaviors of the surrounding vehicles and pedestrians, for safe and reliable decision-making. Due to partial observability in these…
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…
Location awareness is a key factor for a wealth of wireless indoor applications. Its provision requires the careful fusion of diverse information sources. For agents that use radio signals for localization, this information may either come…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
The pinching-antenna systems (PASS), which dynamically activate and relocate the pinching-antennas (PAs) along the dielectric waveguide, offer unprecedented potential for integrated positioning and communication. The multi-waveguide-based…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
Radio-based localization in dynamic environments, such as urban and vehicular settings, requires systems that efficiently adapt to varying signal conditions and environmental changes. Factors like multipath interference and obstructions…
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…
As distributed artificial intelligence (AI) and multi-agent architectures grow increasingly complex, the need for adaptive, context-aware routing becomes paramount. This paper introduces an enhanced, adaptive routing algorithm tailored for…