https://evlachos.space/tags/cooperative-localization/Cooperative LocalizationHugo Blox Builder (https://hugoblox.com)enMon, 11 May 2026 00:00:00 +0000https://evlachos.space/media/icon_hu_2beab1606e98fa9.pnghttps://evlachos.space/tags/cooperative-localization/https://evlachos.space/publication/venetis-consistency-2026/Mon, 11 May 2026 00:00:00 +0000https://evlachos.space/publication/venetis-consistency-2026/<h2 id="key-contributions">Key Contributions</h2> <ul> <li><strong>Consistency-gated framework</strong>: A cooperative localization scheme that actively prevents harmful cooperative updates when inter-agent measurements are inconsistent under intermittent GPS.</li> <li><strong>Two-stage estimation</strong>: Decoupled architecture separating local observability recovery (EKF with GPS/IMU) from cooperative refinement (distributed ADMM over UWB range and AoA constraints).</li> <li><strong>Lightweight acceptance gate</strong>: A learning-based gate driven solely by runtime residual and consensus indicators — no ground truth required online.</li> <li><strong>Quantitative gains</strong>: Demonstrated moderate improvements in absolute accuracy and substantial gains in formation-relevant relative accuracy over GPS/IMU baselines.</li> </ul>https://evlachos.space/post/papers/paper-accepted-eusipco26-cooperative-localization/Mon, 11 May 2026 00:00:00 +0000https://evlachos.space/post/papers/paper-accepted-eusipco26-cooperative-localization/<p>We are pleased to announce that our paper has been accepted at the <strong>34th European Signal Processing Conference (EUSIPCO 2026)</strong>, to be held in Bruges, Belgium:</p> <hr> <h3 id="consistency-gated-cooperative-localization-for-uav-swarms-under-intermittent-gps">Consistency-Gated Cooperative Localization for UAV Swarms Under Intermittent GPS</h3> <p><em>Dimitrios Venetis, Evangelos Vlachos, and Konstantinos Berberidis</em></p> <p>This paper addresses the problem of cooperative localization for UAV swarms when GPS is intermittently available. Each agent maintains a local state estimate via an Extended Kalman Filter (EKF), and inter-agent cooperation is achieved through a MAP refinement stage using UWB range and Angle-of-Arrival constraints, solved via ADMM. A consistency gate driven by ADMM residuals and normalized measurement errors selectively accepts cooperative measurements, preventing degradation from inconsistent observations.</p> <hr> <p>The conference proceedings will be published in the open-access EURASIP archive and on IEEE Xplore.</p>