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

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

This paper introduces OneClock, a generic approach for using time in networked applications. OneClock provides two basic time-triggered primitives: the ability to schedule an operation at a remote host or device, and the ability to receive…

Trustworthiness assessment is an essential step to assure that interdependent systems perform critical functions as anticipated, even under adverse conditions. In this paper, a holistic trustworthiness assessment framework for…

It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…

Due to its suitability for wireless ranging, Ultra-Wide Band (UWB) has gained traction over the past years. UWB chips have been integrated into consumer electronics and considered for security-relevant use cases, such as access control or…

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…

We present a transportable optical clock (TOC) with $^{87}$Sr. Its complete characterization against a stationary lattice clock resulted in a systematic uncertainty of ${7.4 \times 10^{-17}}$ which is currently limited by the statistics of…

Time-Sensitive Networking (TSN) is a promising industrial Internet of Things technology. Clock synchronization provides unified time reference, which is critical to the deterministic communication of TSN. However, changes in internal…

To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel onboard clock phase jump detection framework for satellite constellations using range measurements obtained from…

This paper proposes two compressive sampling based time of arrival (TOA) estimation algorithms using a sub-Nyquist rate receiver. We also describe a novel compressive sampling dictionary design for the compact representation of the received…

Many dynamical systems, including thermal, fluid, and multi-agent systems, can be represented as weighted graphs. In this paper we consider whether the unstable states of such systems can be observed from limited discrete-time measurement,…

Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight…

In this paper, a positioning technique based on Time Difference of Arrival (TDoA) measurements is analyzed. The proposed approach is designed to consent range and position estimation, using ultrasound transmissions of a stream of chirp…

An overarching issue in resource management of wireless networks is assessing their capacity: How much communication can be achieved in a network, utilizing all the tools available: power control, scheduling, routing, channel assignment and…

In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…

This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…

We proposed a new criterion \textit{noise-stability}, which revised the classical rigidity theory, for evaluation of MDS algorithms which can truthfully represent the fidelity of global structure reconstruction; then we proved the…

Trustworthy decision making in networked, dynamic environments calls for innovative uncertainty quantification substrates in predictive models for graph time series. Existing conformal prediction (CP) methods have been applied separately to…

We consider the problem of obtaining relative location information between two wireless nodes from the differences in their ultra-wideband (UWB) channels to observer nodes. Our approach focuses on the delays of multipath components (MPCs)…

Uncertainty quantification in prediction presents a compelling challenge with vast applications across various domains, including biomedical science, economics, and weather forecasting. There exists a wide array of methods for constructing…