4 papers
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty +2
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point dista…
Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks
Alan Papalia, Nicole Thumma, John Leonard
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localiza…
Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging
Alan Papalia, John Leonard
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sens…
Inter-Mobile-Device Distance Estimation using Network Localization Algorithms for Digital Contact Logging Applications
Lillian Clark, Alan Papalia, Jônata Tyska Carvalho +2
Mobile applications are being developed for automated logging of contacts via Bluetooth to help scale up digital contact tracing efforts in the context of the ongoing COVID-19 pand…