相关论文: Bearing-Only Solution to the Fermat-Weber Location…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightweight, and…
Multi-agent routing problems have gained significant attention recently due to their wide range of industrial applications, ranging from logistics warehouse automation to indoor service robots. Conventionally, they are modeled as classical…
Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…
Attention-based models, such as Transformer, excel across various tasks but lack a comprehensive theoretical understanding, especially regarding token-wise sparsity and internal linear representations. To address this gap, we introduce the…
The problem of guiding a flock of agents to a destination by the repulsion forces exerted by a smaller number of external agents is called the shepherding problem. This problem has attracted attention due to its potential applications,…
This paper addresses the localization problem. The extended Kalman filter (EKF) is employed to localize a unicycle-like mobile robot equipped with a laser range finder (LRF) sensor and an omni-directional camera. The LRF is used to scan the…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Many algorithms for visible light positioning (VLP) localization do not consider the shapes of the transmitters, which leads to the impracticality of the algorithm and the low localization accuracy. Therefore, this paper proposes a novel…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
By leveraging the underlying structures of the quadrotor dynamics, we propose multi-agent reinforcement learning frameworks to innovate the low-level control of a quadrotor, where independent agents operate cooperatively to achieve a common…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
This study proposes an airborne multisensor management algorithm for target tracking, taking each of multiple unmanned aircraft as a sensor. The purpose of the algorithm is to determine the configuration of the sensor deployment and to…
In this paper, we begin by introducing a well-known geometry concept: the Fermat point in a triangle. Then, we generalize the problem and propose an iterative algorithm based on gradient descent to the weighted form in Lp space. We also…
Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise…
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…
In this work we develop clustering techniques for the Bearing Only Target Localization (BOTL) problem. Our scenario has a receiver move along some path, generating bearing estimates on some interval. Multiple emitting targets exist in the…