Collaborative High-Accuracy Localization in Mobile Multipath Environments

Localization of Omni-directional Mobile Device in Multipath Environments

This paper presents a comprehensive Non Line of Sight (NLOS) localization scheme in a multipath environment where the scatterers with smooth surfaces are aligned parallel or perpendicular to each other. It leverages on the estimation of Angle of Arrival (AOA) and Time of Arrival (TOA) of the omni-directional mobile device’s signal received at the reference devices. Unlike the conventional Line ...

Improving the VANET Vehicles’ Localization Accuracy Using GPS Receiver in Multipath Environments

The Vehicular Ad-hoc Network (VANET) has been studied in many fields since it has the ability to provide a variety of services, such as detecting oncoming collisions and providing warning signals to alert the driver. The services provided by VANET are often based on collaboration among vehicles that are equipped with relatively simple motion sensors and GPS units. Awareness of its precise locat...

High-accuracy global localization filter for three-dimensional environments

A High-Resolution Detector in Multipath Environments

In this paper we introduce a high-resolution CFAR detector for the linear data model. The detector is derived using the generalized likelihood-ratio test (GLRT) framework. The resulting detector has a number of distinctive properties. One property of the detector is that it is most useful when the training and testing data contain the signal-of-interest. In fact, this detector does not need tra...

Switching Multirobot Collaborative Localization in Symmetrical Environments

This paper addresses and solves the problem of multirobot collaborative localization in highly symmetrical 2D environments. Symmetrical environments can be encountered in logistic application scenarios, where a team of rovers moves along several parallel corridors in a large surface, to perform surveillance and monitoring tasks. Because of the environment symmetry, current algorithms fail to pr...