Related papers: Target Tracking in Confined Environments with Unce…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed…
This paper introduces a new approach to the long-term tracking of an object in a challenging environment. The object is a cow and the environment is an enclosure in a cowshed. Some of the key challenges in this domain are a cluttered…
Automated tracking of urban development in areas where construction information is not available became possible with recent advancements in machine learning and remote sensing. Unfortunately, these solutions perform best on high-resolution…
In the application of computer-vision based displacement measurement, an optical target is usually required to prove the reference. In the case that the optical target cannot be attached to the measuring objective, edge detection, feature…
Wide-angle sonar mapping of the environment by mobile robot is nontrivial due to several sources of uncertainty: dropouts due to "specular" reflections, obstacle location uncertainty due to the wide beam, and distance measurement error.…
To work in unknown outdoor environments, autonomous sampling machines need the ability to target samples despite limited visibility and robotic arm reach distance. We design a heuristic guided search method to speed up the search process…
In this paper, we propose a radio-based passive target tracking algorithm using multipath measurements, including the angle of arrival and relative distance. We focus on a scenario in which a mobile receiver continuously receives radio…
Indoor localization systems that are accurate and robust with respect to propagation channel conditions are still a technical challenge today. In particular, for systems based on range measurements from radio signals, non-line-of-sight…
The tracking-by-detection paradigm is the mainstream in multi-object tracking, associating tracks to the predictions of an object detector. Although exhibiting uncertainty through a confidence score, these predictions do not capture the…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
In this article, we present a distributed framework for collecting and analyzing environmental and location data recorded by human users (carriers) with the use of portable sensors. We demonstrate the data mining analysis potential among…
Constructing a spatial map of environmental parameters is a crucial step to preventing hazardous chemical leakages, forest fires, or while estimating a spatially distributed physical quantities such as terrain elevation. Although prior…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
Being able to accurately locate wireless devices, while guaranteeing high-level of security against spoofing attacks, benefits all participants in the localization chain (e.g., end users, network operators, and location service providers).…
For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust localization being a key prerequisite. To support further…
Imagine a tracking agent $P$ who wants to follow a moving target $Q$ in $d$-dimensional Euclidean space. The tracker has access to a noisy location sensor that reports an estimate $\tilde{Q}(t)$ of the target's true location $Q(t)$ at time…
We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach…
In this paper, we propose a multiobjective optimization framework for the sensor selection problem in uncertain Wireless Sensor Networks (WSNs). The uncertainties of the WSNs result in a set of sensor observations with insufficient…
We consider the problem of routing a team of energy-constrained Unmanned Aerial Vehicles (UAVs) to drop unmovable sensors for monitoring a task area in the presence of stochastic wind disturbances. In prior work on mobile sensor routing…