Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"cooperative localization"”.
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Certifiable cooperative localization for underwater navigation
… The associated range-aided simultaneous localization and mapping (SLAM) problem is particularly challenging to solve with existing optimization methods. Individual range measurements provide limited geometric constrains on vehicle position and are subject to non-linear errors due to …
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Cooperative localization for autonomous underwater vehicles
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require …
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Cooperative localization for autonomous underwater vehicles
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require …
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Towards the improved robustness of acoustic cooperative localization
… Since packets are often used to encode localization information of and range measurements to the sender, lost packets result in poorer navigation of the receiving vehicle. Trajectory estimates, computed using nonlinear least squares optimization, are computed for a variety of client …
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A framework for cooperative localization in ultra-wideband wireless networks
… the location of one or more agents, known as localization or positioning, is a fundamental challenge. Most existing localization methods rely on existing infrastructure and hence lack the flexibility and robustness necessary for large ad-hoc networks. In this thesis, we describe a framework …
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Coordinated Sensor-Based Area Coverage and Cooperative Localization of a Heterogeneous Fleet of Autonomous Surface Vessels (ASVs)
… robots is a complex task requiring solutions to localization, communication, navigation and basic sensor coverage. Sensor coverage of large areas is a problem that occurs in a variety of different environments from terrestrial to aerial to aquatic. In this thesis we consider the aquatic version …
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Cooperative Positioning in Wireless Sensor Networks Using Semidefinite Programming
… Difficulties in using GPS lead us to use sensor localization in which the position information is obtained from the measurements collected within the network without the aid of external resources. Sensor localization has been a great topic of interest during past decades. Although many …
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Communications in Mobile Wireless Networks: A Finite Time-Horizon Viewpoint
… reduce the uncertainty in nodal locations, the cooperative localization problem for mobile nodes is studied. In contrast to previous works, which highly rely on the synchronized time-slotted systems, this cooperative localization framework we establish does not need any synchronization for the …
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Communications in Mobile Wireless Networks: A Finite Time-Horizon Viewpoint
… reduce the uncertainty in nodal locations, the cooperative localization problem for mobile nodes is studied. In contrast to previous works, which highly rely on the synchronized time-slotted systems, this cooperative localization framework we establish does not need any synchronization for the …
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Underwater vehicle localization using range measurements
This thesis investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), …
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Joint Localization and Synchronization via User Cooperation in Non-Terrestrial Networks
… (xG) wireless networks require accurate localization and synchronization for efficient resource management and emerging applications. Non-terrestrial networks (NTN) with low Earth orbit (LEO) satellites offer a promising alternative for positioning, navigation, and timing (PNT) by …
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Comparative evaluation of various GPS-free localization algorithm for wireless sensor networks
… alarm. In many difficult and complex tasks, node localization is very important and critical step to fulfill the purpose of WSN. This project was conducted on the basis of localization of sensor nodes in the scope of GPS-free localizations schemes. We firstly investigated the current localization …
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On the Improvement of Positioning in LTE with Collaboration and Pressure Sensors
… be investigated. In the first part, the indoor localization of a target, whose exact location is unknown, in a LTE network is studied. In this problem the time difference of arrival of the LTE uplink signals sent from the target to an observer are used as the means to estimate the target …
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Improving the consistency of nonlinear estimators: analysis, algorithms, and applications
… in all these applications. For instance, robot localization - which is considered as one of the fundamental problems in robotics - seeks to determine the robot's pose (position and orientation) using measurements from onboard sensors (e.g., an odometer and a camera). Another closely-related and …
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Security of Critical Cyber-Physical Systems: Fundamentals and Optimization
… mechanism, built on the premise of cooperative localization, is then developed to mitigate the effects of these GPS spoofing attacks. To practically deploy the proposed defense mechanism, a dynamic Stackelberg game is formulated to model the interactions between a GPS spoofer and a …