相关论文: Exploiting Sparsity for Localization of Large-Scal…

We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…

Accurate estimation and prediction of trajectory is essential for the capture of any high speed target. In this paper, an extended Kalman filter (EKF) is used to track the target in the first loop of the trajectory to collect data points…

A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…

Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…

In this article, we propose a new filtering algorithm based in the Koopman operator, showing that a nonlinear filtering problem can be seen as an equivalent problem where the dynamics is infinite dimensional, but linear. Using Extended…

In this paper, we aim to determine the location information of a node deployed in Wireless Sensor Networks (WSN). We estimate the position of an unknown source node using localization based on linear approach on a single simulation…

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…

The extended Kalman filter (EKF) is a cornerstone of nonlinear state estimation, yet its performance is fundamentally limited by noise-model mismatch and linearization errors. We develop a residual-aware distributionally robust EKF that…

Wireless sensor networks (WSNs) have gained researchers' attention in the last several years. Small sensors powered by miniaturized microprocessors are capable of supporting several applications for civil and military domains. Determining…

Conventional Wi-Fi received signal strength indicator (RSSI) fingerprinting cannot meet the growing demand for accurate indoor localization and navigation due to its lower accuracy, while solutions based on light detection and ranging…

We address the problem of map sparsification for long-term visual localization. For map sparsification, a commonly employed assumption is that the pre-build map and the later captured localization query are consistent. However, this…

Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…

Electronic health monitoring is one of the major applications of wireless body area networks (WBANs) that helps with early detection of any abnormal physiological symptoms. In this paper, we propose and solve an optimization problem that…

This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…

This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…

Nowadays, accurate localization plays an essential role in many fields, like target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex…

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…

Due to non-homogeneous spread of sunlight, sensing nodes possess non-uniform energy budget in recharge- able Wireless Sensor Networks (WSNs). An energy-aware workload distribution strategy is therefore nec- essary to achieve good data…

High-frequency communication systems bring extremely large aperture arrays (ELAA) and large bandwidths, integrating localization and (bi-static) sensing functions without extra infrastructure. Such systems are likely to operate in the…

We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…