Simultaneous localization and mapping in wireless sensor networks

AbstractMobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFi propagation maps of the access points are modeled deterministically or estimated using an offline human training calibration. However, these techniques do not take into account the environmental dynamics. In this paper, the maps are assumed to be made of an average indoor propagation model combined with a perturbation field which represents the influence of the environment. This perturbation field is embedded with a distribution describing the prior knowledge about the environmental influence. The device is localized with Sequential Monte Carlo methods and relies on the estimation of the propagation maps. This inference task is performed online, using the observations sequentially, with a new online Expectation Maximization based algorithm. The performance of the algorithm is illustrated with Monte Carlo experiments using both simulated data and a true data set

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time, this problem is further emphasized by the fact that inertial measurements come at high rate, hence leading to fast growth of the number of variables in the optimization. In this paper, we address this issue by preintegrating inertial measurements between selected keyframes into single relative motion constraints. Our first contribution is a \emph{preintegration theory} that properly addresses the manifold structure of the rotation group. We formally discuss the generative measurement model as well as the nature of the rotation noise and derive the expression for the \emph{maximum a posteriori} state estimator. Our theoretical development enables the computation of all necessary Jacobians for the optimization and a-posteriori bias correction in analytic form. The second contribution is to show that the preintegrated IMU model can be seamlessly integrated into a visual-inertial pipeline under the unifying framework of factor graphs. This enables the application of incremental-smoothing algorithms and the use of a \emph{structureless} model for visual measurements, which avoids optimizing over the 3D points, further accelerating the computation. We perform an extensive evaluation of our monocular \VIO pipeline on real and simulated datasets. The results confirm that our modelling effort leads to accurate state estimation in real-time, outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions on Robotics (TRO) 201

Estimation/updating of origin-destination flows: recent trends and opportunities from trajectory data

Understanding the spatial and temporal dynamics of mobility demand is essential for many applications over the entire transport domain, from planning and policy assessment to operation, control, and management. Typically, mobility demand is represented by origin-destination (o-d) flows, each representing the number of trips from one traffic zone to another, for a certain trip purpose and mode of transport, in a given time interval (Cascetta, 2009, Ortuzar and Willumsen, 2011). O-d flows have been generally unobservable for decades, thus the problem of o-d matrix estimation is still one of the most challenging in transportation studies. In recent times, unprecedented tracing and tracking capabilities have become available. The pervasive penetration of sensing devices (smartphones, black boxes, smart cards, ...) adopting a variety of tracing technologies/methods (GPS, Bluetooth, ...) could make in many cases o-d flows now observable. The increasing availability of trajectory data sources has provided new opportunities to enhance observability of human mobility and travel patterns between origins and destinations, recently explored by researchers and practitioners, bringing innovation and new research directions on origin-destination (o-d) matrix estimation. The purpose of this thesis is to develop a deep understanding of the opportunities and the limitations of trajectory data to assess its potential for ameliorating the o-d flows estimation/updating problem and for conducting o-d related analysis. The proposed work involves both real trajectory data analysis and laboratory experiments based on synthetic data to investigate the implications of the trajectory data sample distinctive features (e.g. sample representativeness and bias) on demand flows accuracy. Final considerations and results might provide useful guidelines for researchers and practitioners dealing with various types of trajectory data sample and conducting o-d related applications

Concurrent Active Learning in Autonomous Airborne Source Search: Dual Control for Exploration and Exploitation

In this paper, a concurrent learning framework is developed for source search in an unknown environment using autonomous platforms equipped with onboard sensors. Distinct from the existing solutions that require significant computational power for Bayesian estimation and path planning, the proposed solution is computationally affordable for onboard processors. A new concept of concurrent learning using multiple parallel estimators is proposed to learn the operational environment and quantify estimation uncertainty. The search agent is empowered with dual capability of exploiting current estimated parameters to track the source and probing the environment to reduce the impacts of uncertainty, namely Concurrent Learning based Dual Control for Exploration and Exploitation (CL-DCEE). In this setting, the control action not only minimises the tracking error between future agent's position and estimated source location, but also the uncertainty of predicted estimation. More importantly, the rigorous proven properties such as the convergence of CL-DCEE algorithm are established under mild assumptions on noises, and the impact of noises on the search performance is examined. Simulation results are provided to validate the effectiveness of the proposed CL-DCEE algorithm. Compared with the information-theoretic approach, CL-DCEE not only guarantees convergence, but produces better search performance and consumes much less computational time

Incorporation of acoustic sensors in the regulation of a mobile robot

This article introduces the incorporation of acoustic sensors for the localization of a mobile robot. The robot is considered as a sound source and its position is located applying a Time Delay of Arrival (TDOA) method. Since the accuracy of this method varies with the microphone array, a navigation acoustic map that indicates the location errors is built. This map also provides the robot with navigation trajectories point-to-point and the control is capable to drive the robot through these trajectories to a desired configuration. The proposed localization method is thoroughly tested using both a 900 Hz square signal and the natural sound of the robot, which is driven near the desired point with an average error of 0:067 m.This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 01/01/2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1573703.”Peer ReviewedPostprint (author's final draft

A one decade survey of autonomous mobile robot systems

Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability