相关论文: Egoistic MDS-based Rigid Body Localization
We consider a novel rigid body localization (RBL) method, based only on a set of measurements of the distances, as well as the angles between sensors of the vehicle to the anchor landmark points. A key point of the proposed method is to use…
We consider a robust and self-reliant (or "egoistic") variation of the rigid body localization (RBL) problem, in which a primary rigid body seeks to estimate the pose (i.e., location and orientation) of another rigid body (or "target"),…
We propose a novel message-passing solution to the sixth-dimensional (6D) moving rigid body localization (RBL) problem, in which the three-dimensional (3D) translation vector and rotation angles, as well as their corresponding translational…
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…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
In real-world applications for automatic guided vehicle (AGV) navigation, the positioning system based on the time-of-flight (TOF) measurements between anchors and tags is confronted with the problem of insufficient measurements caused by…
We propose a novel solution to the rigid body localization (RBL) problem, in which the three-dimensional (3D) rotation and translation is estimated by only utilizing the range measurements between the wireless sensors on the rigid body and…
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
Localization is a fundamental challenge for any wireless network of nodes, in particular when the nodes are mobile. We present an extension of the classical Multidimensional scaling (MDS) for an anchorless network of mobile nodes, wherein…
In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…
Predicting the future location of vehicles is essential for safety-critical applications such as advanced driver assistance systems (ADAS) and autonomous driving. This paper introduces a novel approach to simultaneously predict both the…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
We study many-body localization (MBL) in a nearest-neighbor hopping 1D lattice with a slowly varying (SV) on-site potential $U_j = \lambda\cos(\pi\alpha j^s)$ with $0<s<1$. The corresponding non-interacting 1D lattice model is known to have…
Gaussian belief propagation (GaBP) is a technique that relies on linearized error and input-output models to yield low-complexity solutions to complex estimation problems, which has been recently shown to be effective in the design of…
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environment. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny…
This white paper describes a proposed article that will aim to provide a thorough study of the evolution of the typical paradigm of wireless localization (WL), which is based on a single point model of each target, towards wireless rigid…
With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…
Label assignment is a crucial process in object detection, which significantly influences the detection performance by determining positive or negative samples during training process. However, existing label assignment strategies barely…
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…