Related papers: Decision-Theoretic Coordination and Control for Ac…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
Multi-camera vehicle tracking is one of the most complicated tasks in Computer Vision as it involves distinct tasks including Vehicle Detection, Tracking, and Re-identification. Despite the challenges, multi-camera vehicle tracking has…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…
Coordination of view coverage via privacy-aware smart cameras is key to a more socially responsible urban intelligence. Rather than maximizing view coverage at any cost or over relying on expensive cryptographic techniques, we address how…
We address the problem of sequentially selecting and observing processes from a given set to find the anomalies among them. The decision-maker observes one process at a time and obtains a noisy binary indicator of whether or not the…
This work considers the problem of detecting signals from multiple sequentially observed data streams, where only one stream can be observed at every time instant. The goal is to detect signals as quickly as possible while controlling the…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
When performing visual servoing or object tracking tasks, active sensor planning is essential to keep targets in sight or to relocate them when missing. In particular, when dealing with a known target missing from the sensor's field of…
The problem of state tracking with active observation control is considered for a system modeled by a discrete-time, finite-state Markov chain observed through conditionally Gaussian measurement vectors. The measurement model statistics are…
Noisy sensing, imperfect control, and environment changes are defining characteristics of many real-world robot tasks. The partially observable Markov decision process (POMDP) provides a principled mathematical framework for modeling and…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
Sensor management in multi-object stochastic systems is a theoretically and computationally challenging problem. This paper presents a novel approach to the multi-target multi-sensor control problem within the partially observed Markov…
In urban traffic management, the primary challenge of dynamically and efficiently monitoring traffic conditions is compounded by the insufficient utilization of thousands of surveillance cameras along the intelligent transportation system.…
Capturing an event from multiple camera angles can give a viewer the most complete and interesting picture of that event. To be suitable for broadcasting, a human director needs to decide what to show at each point in time. This can become…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…