Related papers: Multisensor--Multitarget Bearing--Only Sensor Regi…
This paper presents a sensor-control method for choosing the best next state of the sensor(s), that provide(s) accurate estimation results in a multi-target tracking application. The proposed solution is formulated for a multi-Bernoulli…
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…
Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…
This paper is concerned with the problem of distributed extended object tracking, which aims to collaboratively estimate the state and extension of an object by a network of nodes. In traditional tracking applications, most approaches…
We consider a human-assisted autonomy sensor fusion for dynamic target localization in a Bayesian framework. Autonomous sensor-based tracking systems can suffer from observability and target detection failure. Humans possess valuable…
This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…
An important preliminary procedure in multi-sensor data fusion is \textit{sensor registration}, and the key step in this procedure is to estimate sensor biases from their noisy measurements. There are generally two difficulties in this bias…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
Autonomous vehicles need precise knowledge on dynamic objects in their surroundings. Especially in urban areas with many objects and possible occlusions, an infrastructure system based on a multi-sensor setup can provide the required…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Sensor selection is a useful method to help reduce data throughput, as well as computational, power, and hardware requirements, while still maintaining acceptable performance. Although minimizing the Cram\'er-Rao bound has been adopted…
This paper deals with the problem of clustering data returned by a radar sensor network that monitors a region where multiple moving targets are present. The network is formed by nodes with limited functionalities that transmit the…
This paper presents novel algorithms for the Fermat-Weber Location Problem, guiding an autonomous agent to the point that minimizes the weighted sum of Euclidean distances to some beacons using only bearing measurements. The existing…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
A fundamental problem for waveform-agile radar systems is that the true environment is unknown, and transmission policies which perform well for a particular tracking instance may be sub-optimal for another. Additionally, there is a limited…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
We study an auto-calibration problem in which a transform-sparse signal is acquired via compressive sensing by multiple sensors in parallel, but with unknown calibration parameters of the sensors. This inverse problem has an important…