Related papers: Multisensor--Multitarget Bearing--Only Sensor Regi…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
Cross-correlation is a popular signal processing technique used in numerous location tracking systems for obtaining reliable range information. However, its efficient design and practical implementation has not yet been achieved on mote…
Recent advances in machine learning and hardware have produced embedded devices capable of performing real-time object detection with commendable accuracy. We consider a scenario in which embedded devices rely on an onboard object detector,…
We investigate the performance tradeoff between \textit{bistatic positioning (BP)} and \textit{monostatic sensing (MS)} in a multi-input multi-output orthogonal frequency division multiplexing scenario. We derive the Cram\'er-Rao bounds…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
This paper addresses the issue of detecting change-points in multivariate time series. The proposed approach differs from existing counterparts by making only weak assumptions on both the change-points structure across series, and the…
This paper considers the problem of estimating linear dynamic system models when the observations are corrupted by random disturbances with nonstandard distributions. The paper is particularly motivated by applications where sensor…
We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. We consider various measures of the observability matrix as the assignment value function. We first…
This article addresses the issue of estimating observation parameters (response and error parameters) in inverse problems. The focus is on cases where regularization is introduced in a Bayesian framework and the prior is modeled by a…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…
Positioning using wave signal measurements is used in several applications, such as GPS systems, structure from sound and Wifi based positioning. Mathematically, such problems require the computation of the positions of receivers and/or…
Many practical sensing applications involve multiple sensors simultaneously acquiring measurements of a single object. Conversely, most existing sparse recovery guarantees in compressed sensing concern only single-sensor acquisition…
The recently developed labeled multi-Bernoulli (LMB) filter uses better approximations in its update step, compared to the unlabeled multi-Bernoulli filters, and more importantly, it provides us with not only the estimates for the number of…
The rapid development of artificial intelligence and deep learning has provided many opportunities to further enhance the safety, stability, and accuracy of industrial Cyber-Physical Systems (CPS). As indispensable components to many…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
The problem of mobile position estimation in multipath scenarios is addressed. A low-complexity, fully-adaptive algorithm is proposed, based on the pseudo maximum likelihood approach. The processing is done exclusively on-board at the…
Optimal experimental design is a classic topic in statistics, with many well-studied problems, applications, and solutions. The design problem we study is the placement of sensors to monitor spatiotemporal processes, explicitly accounting…
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…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…