Related papers: Target Tracking in Confined Environments with Unce…

Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…

Positioning has recently received considerable attention as a key enabler in emerging applications such as extended reality, unmanned aerial vehicles and smart environments. These applications require both data communication and…

When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…

In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…

Effective monitoring of mobile animal populations is crucial for ecological research, wildlife management, and agricultural applications. Monitoring of bats specifically can help understand the spread of disease as well as shine light on…

This paper considers the problem of optimally deploying omnidirectional sensors, with potentially limited sensing radius, in a network-like environment. This model provides a compact and effective description of complex environments as well…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…

In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

Quantitative analysis of the dynamics of tiny cellular and sub-cellular structures, known as particles, in time-lapse cell microscopy sequences requires the development of a reliable multi-target tracking method capable of tracking numerous…

Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we…

Optimal sensor placement enhances the efficiency of a variety of applications for monitoring dynamical systems. It has been established that deterministic solutions to the sensor placement problem are insufficient due to the many…

This article addresses the problem of multi-object tracking by using a non-deterministic model of target behaviors with hard constraints. To capture the evolution of target features as well as their locations, we permit objects to lie in a…

While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…

Extended target/object tracking (ETT) problem involves tracking objects which potentially generate multiple measurements at a single sensor scan. State-of-the-art ETT algorithms can efficiently exploit the available information in these…

Given a ground-level query image and a geo-referenced aerial image that covers the query's local surroundings, fine-grained cross-view localization aims to estimate the location of the ground camera inside the aerial image. Recent works…

This paper proposes a comprehensive strategy for complex multi-target-multi-drone encirclement in an obstacle-rich and GPS-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones…