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Joint Probabilistic Data Association has been proven to be effective in tracking multiple targets from measurements amidst clutter and missed detections. But the traditional Joint Probabilistic Data Association algorithm will cause track coalescence when the targets are parallel neighboring or small-angle crossing. To avoid track coalescence, a modified Joint Probabilistic Data Association algorithm...
We address the mutual localization problem for a multi-robot system, under the assumption that each robot is equipped with a sensor that provides a measure of the relative position of nearby robots without their identity. Anonymity generates a combinatorial ambiguity in the inversion of the measure equations, leading to a multiplicity of admissible relative pose hypotheses. To solve the problem, we...
An ultrasound indoor localisation system typically comprises an infrastructure formed by a plurality of fixed nodes, so called beacons. By ultrasound time of flight measurements, the range between a mobile node and some of the fixed beacons at known positions is detected. Given a minimum of 3 such range measurements, the position of the mobile node can be determined by trilateration. To achieve good...
This paper studies the validity of horizontal dilution of precision (HDOP) measure to evaluate sensor network geometries when localizing impacts in structural health monitoring (SHM). First, HDOP is defined similarly to navigation applications. Even though several low-complexity closed-form solutions have been proposed recently, HDOP measure has been theoretically justified only for iterative least-squares...
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