When two independently-prepared Bose-Einstein condensates are released from their corresponding traps, the absorbtion image of the overlapping clouds presents an interference pattern. Here we analyze a model introduced by Javanainen and Yoo [1], who considered two atomic condensates described by plane waves propagating in opposite directions. We present an analytical argument for the measuremen...

In this paper, we investigate relative localization techniques based on internode distance measurements for small wireless networks. High precision ranging is assumed, which is achieved by using technologies such as ultra-wide band (UWB) ranging. A number of approaches are formulated and compared for relative location estimation, which include the Linear Least Squares (LLS) approach, the Maximu...

Mobile robot localization is a mature field that over the years has demonstrated its effectiveness and robustness. The majority of the approaches, however, rely on a globally consistent map, and localize on it in an absolute coordinate frame. This global consistency cannot be guaranteed when the map is estimated by the robot itself, and an error in the map will likely result in the failure of t...

In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...

This paper discusses the localization portion of a new iceberg-relative navigation technique for Autonomous Underwater Vehicles (AUVs). An estimator is presented which correlates incoming sonar range returns with an a-priori iceberg surface map in order to provide iceberg-relative AUV position and orientation estimates. The technique works by maintaining estimates not only of iceberg-relative A...

We consider the localization of a pair of particles in relative-position space. We show how a sequence of scattering interactions progressively entangles two particles, giving rise to a robust state of well-defined separation and thus providing a natural description of relative position. We use two thought experiments to describe the localization process. The first is an interferometer with rec...