Related papers: Parameter estimation in LISA Pathfinder operationa…
Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…
We describe methods, tools, and a software library called LASPATED, available on GitHub (at https://github.com/vguigues/) to fit models using spatio-temporal data and space-time discretization. A video tutorial for this library is available…
The ability to formulate maps of minimum detectable activities (MDAs) that describe the sensitivity of an ad hoc measurement that used one or more freely moving radiation detector systems would be significantly beneficial for the conduct…
We describe the data processing pipeline of the Planck Low Frequency Instrument (LFI) data processing centre (DPC) to create and characterize full-sky maps based on the first 15.5 months of operations at 30, 44 and 70 GHz. In particular, we…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…
Real-world systems often exhibit dynamics influenced by various parameters, either inherent or externally controllable, necessitating models capable of reliably capturing these parametric behaviors. Plasma technologies exemplify such…
Output thresholding is the technique to search for the best threshold to be used during inference for any classifiers that can produce probability estimates on train and testing datasets. It is particularly useful in high imbalance…
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…
This paper considers the problem of linear time-invariant (LTI) system identification using input/output data. Recent work has provided non-asymptotic results on partially observed LTI system identification using a single trajectory but is…
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…
We propose an efficient offline pointing calibration method for operational antenna systems which does not require any downtime. Our approach minimizes the calibration effort and exploits technical signal information which is typically used…
Private lunar missions are faced with the challenge of robust autonomous navigation while operating under stringent constraints on mass, power, and computational resources. This work proposes a motion-field inversion framework that uses…
We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…
We present a new tool, GPA, that can generate key performance measures for very large systems. Based on solving systems of ordinary differential equations (ODEs), this method of performance analysis is far more scalable than stochastic…
Iterative methods are commonly used approaches to solve large, sparse linear systems, which are fundamental operations for many modern scientific simulations. When the large-scale iterative methods are running with a large number of ranks…
Decisions about health interventions are often made using limited evidence. Mathematical models used to inform such decisions often include uncertainty analysis to account for the effect of uncertainty in the current evidence base on…
Being able to provide latency guarantees for orbital edge computing applications through Low Earth Orbit (LEO) satellite constellations is a major milestone for their integration into 5G and 6G networks. However, achieving this is…
For the LISA mission, Tilt-To-Length (TTL) coupling is expected to be one of the dominant instrumental noise contributions after laser frequency noise is suppressed based, on assumptions on the size of the coupling and angular jitter…