相关论文: Clock Rigidity and Joint Position-Clock Estimation…

The advent of 5G positioning techniques by 3GPP has unlocked possibilities for applications in public safety, vehicular systems, and location-based services. However, these applications demand accurate and reliable positioning performance,…

Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO system. An inconsistent estimator can degrade localization…

In this paper, theoretical limits on time delay estimation are studied for ultra-wideband (UWB) cognitive radio systems. For a generic UWB spectrum with dispersed bands, the Cramer-Rao lower bound (CRLB) is derived for unknown channel…

This paper proposes a flexible framework for inferring large-scale time-varying and time-lagged correlation networks from multivariate or high-dimensional non-stationary time series with piecewise smooth trends. Built on a novel and unified…

Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…

Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…

This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…

The emergence of large-scale wireless networks with partially-observable and time-varying dynamics has imposed new challenges on the design of optimal control policies. This paper studies efficient scheduling algorithms for wireless…

The vast amount of spectrum available for millimeter wave (mmWave) wireless communication systems will support accurate real-time positioning concurrent with communication signaling. This paper demonstrates that accurate estimates of the…

In two-way time-of-arrival (TOA) systems, a user device (UD) obtains its position and timing information by round-trip communications to a number of anchor nodes (ANs) at known locations. Compared with the one-way TOA technique, the two-way…

This paper introduces new structures called conic frameworks and their rigidity. They are composed by agents and a set of directed constraints between pairs of agents. When the structure cannot be flexed while preserving the constraints, it…

Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body…

Finding important nodes in a graph and measuring their importance is a fundamental problem in the analysis of social networks, transportation networks, biological systems, etc. Among popular such metrics are graph centrality, betweenness…

This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…

Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…

This work performs the design, real-time hardware realization, and experimental evaluation of a positioning system by ultra-violet (UV) communication under photon-level signal detection. The positioning is based on time-difference of…

Accurate node localization is vital for mobile ad hoc networks (MANETs). Current methods like Time of Arrival (TOA) can estimate node positions using imprecise baseplates and achieve the Cram\'er-Rao lower bound (CRLB) accuracy. In…

We propose an adaptive control strategy for the simultaneous estimation of topology and synchronization in complex dynamical networks with unknown, time-varying topology. Our approach transforms the problem of time-varying topology…

Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of…