Related papers: Autonomous search for a diffusive source in an unk…

Animals use stereo sampling of odor concentration to localize sources and follow odor trails. We analyze the dynamics of a bilateral model that depends on the simultaneous comparison between odor concentrations detected by left and right…

In this paper, we consider a problem motivated by search-and-rescue applications, where an unmanned aerial vehicle (UAV) seeks to approach the vicinity of a distant quasi-stationary radio frequency (RF) emitter surrounded by local…

Given trajectory data, a domain-specific study area, and a user-defined threshold, we aim to find anomalous trajectories indicative of possible GPS spoofing (e.g., fake trajectory). The problem is societally important to curb illegal…

In this work we consider the question of whether a simple diffusive model can explain the scent tracking behaviours found in nature. For this behaviour to occur, both the concentration of a scent and its gradient must be above some…

This paper describes several improvements to a new method for signal decomposition that we recently formulated under the name of Differentiable Dictionary Search (DDS). The fundamental idea of DDS is to exploit a class of powerful deep…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

Localisation of a source of a toxic release of biochemical aerosols in the atmosphere is a problem of great importance for public safety. Two main practical difficulties are encountered in this problem: the lack of knowledge of the…

Single-particle traces of the diffusive motion of molecules, cells, or animals are by-now routinely measured, similar to stochastic records of stock prices or weather data. Deciphering the stochastic mechanism behind the recorded dynamics…

In many practical scenarios, a flying insect must search for the source of an emitted cue which is advected by the atmospheric wind. On the macroscopic scales of interest, turbulence tends to mix the cue into patches of relatively high…

In this paper, a concurrent learning framework is developed for source search in an unknown environment using autonomous platforms equipped with onboard sensors. Distinct from the existing solutions that require significant computational…

This work discusses a novel method for estimating the location of a gas source based on spatially distributed concentration measurements taken, e.g., by a mobile robot or flying platform that follows a predefined trajectory to collect…

Sensors are routinely mounted on robots to acquire various forms of measurements in spatio-temporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained…

Locating the source of an advected chemical signal is a common challenge facing many living organisms. When the advecting medium is characterized by either high Reynolds number or high Peclet number the task becomes highly non-trivial due…

Automated driving has become more and more popular due to its potential to eliminate road accidents by taking over driving tasks from humans. One of the remaining challenges is to follow a planned path autonomously, especially when…

We consider filters for the detection and extraction of compact sources on a background. We make a one-dimensional treatment (though a generalization to two or more dimensions is possible) assuming that the sources have a Gaussian profile…

Low-dimensional periodic arrays of scatterers with a moving point particle are ideal models for studying deterministic diffusion. For such systems the diffusion coefficient is typically an irregular function under variation of a control…

The motion of self-propelled particles is modeled as a persistent random walk. An analytical framework is developed that allows the derivation of exact expressions for the time evolution of arbitrary moments of the persistent walk's…

Single-file systems, in which particles diffuse in narrow channels while not overtaking each other, is a fundamental model for the tracer subdiffusion observed in confined geometries, such as in zeolites or carbon nanotubes. Twenty years…

The dynamics of a tracer particle in a glassy matrix of obstacles displays slow complex transport as the free volume approaches a critical value and the void space falls apart. We investigate the emerging subdiffusive motion of the test…

In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…