@article {Li2022,
	title = {3-D Inter-Robot Relative Localization via Semidefinite Optimization},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	pages = {10081{\textendash}10088},
	publisher = {IEEE},
	abstract = {In this letter, the 3-D inter-robot relative localization problem is addressed using noise-corrupted odometric and distance measurements. Unlike the existing solutions, we are devoted to providing a relative localization method that has an {\textquotedblleft}overall best performance,{\textquotedblright} which means that the tradeoffs between the estimation accuracy (EA), the number of measurements (NoMs), and the computation efficiency (CE) are considered. We demonstrate that an existing formulation of the 3-D relative localization problem, the square distances weighted least square (SD-WLS), can be equivalently reformulated as a non-convex quadratic constrained quadratic programming (QCQP) problem. Further, to handle the non-convex nature of the QCQP problem, we adopt the semidefinite programming (SDP) relaxation approach, which drops the rank constraint and recovers the solution of the QCQP via an eigenvalue decomposition strategy. Finally, a refinement step is introduced to solve the problem that the quadratic constraints might not be satisfied due to the SDP relaxation. The simulation and experiment results show that, compared to existing methods, our method has the best overall performance when the three factors, i.e., EA, NoMs, and CE, are important for a relative localization application.},
	keywords = {3-D inter-robot relative localization, Distance measurement, Global Positioning System, Location awareness, non-convex optimization, QCQP, Quaternions, Robots, SDP, sensors, Sun},
	issn = {2377-3774},
	doi = {10.1109/LRA.2022.3192888},
	author = {Ming Li and Tin Lun Lam and Zhiyong Sun}
}
@article {400,
	title = {On the Vulnerabilities of Voronoi-Based Approaches to Mobile Sensor Deployment},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {15},
	year = {2016},
	month = {Dec},
	pages = {3114-3128},
	abstract = {Mobile sensor networks are the most promising solution to cover an Area of Interest (AoI) in safety critical scenarios. Mobile devices can coordinate with each other according to a distributed deployment algorithm, without resorting to human supervision for device positioning and network configuration. In this paper, we focus on the vulnerabilities of the deployment algorithms based on Voronoi diagrams to coordinate mobile sensors and guide their movements. We give a geometric characterization of possible attack configurations, proving that a simple attack consisting of a barrier of few compromised sensors can severely reduce network coverage. On the basis of the above characterization, we propose two new secure deployment algorithms, named SecureVor and Secure Swap Deployment (SSD). These algorithms allow a sensor to detect compromised nodes by analyzing their movements, under different and complementary operative settings. We show that the proposed algorithms are effective in defeating a barrier attack, and both have guaranteed termination. We perform extensive simulations to study the performance of the two algorithms and compare them with the original approach. Results show that SecureVor and SSD have better robustness and flexibility and excellent coverage capabilities and deployment time, even in the presence of an attack.},
	keywords = {area of interest, Bills of materials, computational geometry, Computer science, deployment algorithms, device positioning, Mobile communication, Mobile computing, mobile radio, mobile sensor deployment, mobile sensor networks, Mobile sensors, mobile wireless sensors, Monitoring, network configuration, network coverage, secureVor secure swap deployment, self-deployment, sensors, telecommunication security, Voronoi approach, Voronoi-based approaches, wireless sensor networks},
	issn = {1558-0660},
	doi = {10.1109/TMC.2016.2524630},
	author = {N. Bartolini and S. Ciavarella and S. Silvestri and T. L. Porta}
}
@conference {39,
	title = {Fast Guaranteed Search With Unmanned Aerial Vehicles},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2013},
	abstract = {In this paper we consider the problem of searching for an arbitrarily smart and fast evader in a large environment with a team of unmanned aerial vehicles (UAVs) while providing guarantees of detection. Our emphasis is on the fast execution of efficient search strategies that minimize the number of UAVs and the search time. We present the first approach for computing fast search strategies utilizing additional searchers to speed up the execution time and thereby enabling large scale UAV search. In order to scale to very large environments when using UAVs one would either have to overcome the energy limitations of UAVs or pay the cost of utilizing additional UAVs to speed up the search. Our approach is based on coordinating UAVs on sweep lines, covered by the UAV sensors, that move simultaneously through an environment. We present some simulation results that show a significant reduction in execution time when using multiple UAVs and a demonstration of a real system with three ARDrones.},
	keywords = {AR.Drone 2.0, autonomous aerial vehicles, Delays, fast guaranteed search, Multi-robot systems, Robot kinematics, Robot sensing systems, search problem, Search problems, search strategies, sensors, Surveillance, UAV sensors, unmanned aerial vehicles},
	doi = {10.1109/IROS.2013.6697229},
	author = {Kolling, A. and Kleiner, A. and Rudol, P.}
}
