相关论文: Cooperative Positioning for Sparsely Distributed H…

Location information of sensor nodes has become an essential part of many applications in Wireless Sensor Networks (WSN). The importance of location estimation and object tracking has made them the target of many security attacks. Various…

Motivated by non-linear, non-Gaussian, distributed multi-sensor/agent navigation and tracking applications, we propose a multi-rate consensus/fusion based framework for distributed implementation of the particle filter (CF/DPF). The CF/DPF…

Localization and synchronization are very important in many wireless applications such as monitoring and vehicle tracking. Utilizing the same time of arrival (TOA) measurements for simultaneous localization and synchronization is…

In this paper, we present a fast and decentralized state estimation framework for the control of legged locomotion. The nonlinear estimation of the floating base states is decentralized to an orientation estimation via Extended Kalman…

Data-driven machine learning approaches have recently been proposed to facilitate wireless network optimization by learning latent knowledge from historical optimization instances. However, existing methods do not well handle the topology…

Data-driven modelling techniques provide a method for deriving models of dynamical systems directly from complicated data streams. However, tracking and forecasting such data streams poses a significant challenge to most methods, as they…

A Wireless Sensor Network(WSN) can be described as a collection of untethered sensor nodes. An important application of WSNs is in the field of real-time communication. Real-time communication is a critical service which requires a…

Data assimilation methods aim at estimating the state of a system by combining observations with a physical model. When sequential data assimilation is considered, the joint distribution of the latent state and the observations is described…

Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…

The Distributed Diffusion Kalman Filter (DDKF) algorithm in all its magnitude has earned great attention lately and has shown an elaborate way to address the issue of distributed optimization over networks. Estimation and tracking of a…

In this paper, we exploit the 3D-beamforming features of multiantenna equipment employed in fifth generation (5G) networks, operating in the millimeter wave (mmW) band, for accurate positioning and tracking of users. We consider sequential…

We present Scaff-PD, a fast and communication-efficient algorithm for distributionally robust federated learning. Our approach improves fairness by optimizing a family of distributionally robust objectives tailored to heterogeneous clients.…

Cooperative communication using unmanned aerial vehicles (UAVs) is a promising technology for infrastructureless wireless networks. One of the key challenges in UAV based communications is the backhaul throughput. In this paper, we propose…

Formation control (FC) of multi-agent plays a critical role in a wide variety of fields. In the absence of absolute positioning, agents in FC systems rely on relative position measurements with respect to their neighbors. In distributed…

The Gaussian process state-space models (GPSSMs) represent a versatile class of data-driven nonlinear dynamical system models. However, the presence of numerous latent variables in GPSSM incurs unresolved issues for existing variational…

We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…

This paper investigates the problem of linear spatial collaboration for distributed estimation in wireless sensor networks. In this context, the sensors share their local noisy (and potentially spatially correlated) observations with each…

This paper studies an output feedback stabilization control framework for discrete-time linear systems with stochastic dynamics determined by an independent and identically distributed (i.i.d.) process. The controller is constructed with an…

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous…

Privacy-sensitive data is stored in autonomous vehicles, smart devices, or sensor nodes that can move around with making opportunistic contact with each other. Federation among such nodes was mainly discussed in the context of federated…