Semi-definite programming based approaches for real-time tractor localization in port container terminals

Wei Huang, Ka Fai Cedric Yiu, Henry Y.K. Lau

Research output: Journal article publicationJournal articleAcademic researchpeer-review


In order to effectively manage and deploy internal tractors in a port container marine terminal, real-time information concerning the location of the tractors is required so that timely scheduling and planning of tractors control and dispatching can be derived. This paper propose a wireless sensor network-based Truck Flow Management System (TFMS) to help tracking the real-time location of internal tractors in a container terminal so as to streamline the management of the terminal operation. Focusing on the real-time localization, the semi-definite programming (SDP) based approaches are employed by introducing the terminal context information, including prior known road constraints and available time-serial data recorded in the network, into the traditional SDP formulation. Experimental results are presented to show that the proposed formulation and treatments to the problem can greatly decrease the estimated errors compared to the traditional formulation.
Original languageEnglish
Pages (from-to)665-680
Number of pages16
JournalNumerical Algebra, Control and Optimization
Issue number4
Publication statusPublished - 1 Oct 2013


  • Dynamic sensor network
  • GPS
  • Semi-definite programming
  • Tractor localization

ASJC Scopus subject areas

  • Algebra and Number Theory
  • Control and Optimization
  • Applied Mathematics


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