Amanda Prorok

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We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An agent's spatial distribution over time is modeled by the Fokker–Planck diffusion model and complements(More)
— This work is situated in the context of collabo-ratively solving the localization problem for unknown initial conditions. We address this problem with a novel, fully decentralized , real-time particle filter algorithm, designed to accommodate realistic robotic assumptions including noisy sensors, and asynchronous and lossy communication. In particular, we(More)
—Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of-sight (NLOS) positioning scenarios can potentially cause significant localization errors and remain a challenge. In this work, we propose a novel, probabilistic UWB TDOA error model which explicitly takes into account NLOS. In order to validate our(More)
— The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. The work in this paper addresses the problem of optimizing this trade-off in a self-configured distributed robotic sensor network, with respect to a user-defined objective function. We investigate a quadtree network topology and(More)
— Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate local-ization. In this work, we address the localization problem by developing a solution that has low computational and sensing requirements, and that is easily deployed on large robot(More)
— Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other. While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, it leads not only to differences between the platforms themselves, but also to a high sensitivity(More)
— Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor lo-calization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) measurements, and must be addressed with accurate measurement models in order to avoid significant(More)