相关论文: Range and Bearing Data Fusion for Precise Convex N…

The small amount of measurements in distribution grids makes their monitoring more difficult. Topological observability may not be possible, and thus, pseudo-measurements are needed to perform state estimation, which is required to control…

Global Navigation Satellite System (GNSS) signals are vulnerable to jamming, particularly in urban areas where multipath and shadowing distort received power. Previous data-driven approaches achieved reasonable localization but poorly…

This paper explores the distance-based relative state estimation problem in large-scale systems, which is hard to solve effectively due to its high-dimensionality and non-convexity. In this paper, we alleviate this inherent hardness to…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

Movable antenna (MA) systems have attracted growing interest in wireless communications due to their ability to reshape wireless channels via local antenna movement within a confined region. However, optimizing antenna positions to enhance…

GNSS localization using everyday mobile devices is challenging in urban environments, as ranging errors caused by the complex propagation of satellite signals and low-quality onboard GNSS hardware are blamed for undermining positioning…

A new algorithm for 3D localization in multiplatform radar networks, comprising one transmitter and multiple receivers, is proposed. To take advantage of the monostatic sensor radiation pattern features, ad-hoc constraints are imposed in…

Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…

In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…

This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…

We study 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 multipath-degraded…

Recent increases in gas-fired power generation have engendered increased interdependencies between natural gas and power transmission systems. These interdependencies have amplified existing vulnerabilities to gas and power grids, where…

Graph-based variational methods have recently shown to be highly competitive for various classification problems of high-dimensional data, but are inherently difficult to handle from an optimization perspective. This paper proposes a convex…

Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…

While both outdoor and indoor localization methods are flourishing, how to properly marry them to offer pervasive localizability in urban areas remains open. Recently proposals on indoor-outdoor detection make the first step towards such an…

In a multirobot system, a number of cyber-physical attacks (e.g., communication hijack, observation perturbations) can challenge the robustness of agents. This robustness issue worsens in multiagent reinforcement learning because there…

Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…

For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…

Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…

We consider the anchor placement problem in localization based on one-way ranging, in which either the sensor or the anchors send the ranging signals. The number of anchors deployed over a geographical area is generally sparse, and we show…