Related papers: Decision-Theoretic Coordination and Control for Ac…
In multi-object stochastic systems, the issue of sensor management is a theoretically and computationally challenging problem. In this paper, we present a novel random finite set (RFS) approach to the multi-target sensor management problem…
This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…
We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…
We study planning problems where autonomous agents operate inside environments that are subject to uncertainties and not fully observable. Partially observable Markov decision processes (POMDPs) are a natural formal model to capture such…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
We address the real-time remote tracking problem in a status update system comprising two sensors, two independent information sources, and a remote monitor. The status updating follows a pull-based communication, where the monitor…
Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…
In this paper we study the problem of tracking an object moving randomly through a network of wireless sensors. Our objective is to devise strategies for scheduling the sensors to optimize the tradeoff between tracking performance and…
We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors. In an effort to derive a formulation for practical settings, we consider limited and unknown…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets,…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
This article describes a comprehensive system for surveillance and monitoring applications. The development of an efficient real time video motion detection system is motivated by their potential for deployment in the areas where security…
The paper addresses the problem of multi-sensor control for multi-target tracking via labelled random finite sets (RFS) in the sensor network systems. Based on an information theoretic divergence measure, namely Cauchy-Schwarz (CS)…
Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…
In spite of the recent advancements in multi-object tracking, occlusion poses a significant challenge. Multi-camera setups have been used to address this challenge by providing a comprehensive coverage of the scene. Recent multi-view…
In this paper, we consider the problem where a drone has to collect semantic information to classify multiple moving targets. In particular, we address the challenge of computing control inputs that move the drone to informative viewpoints,…