Related papers: A Scalable and Distributed Solution to the Inertia…
With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification. An important class of methods focuses on the inertial…
Motivated by the Internet-of-things and sensor networks for cyberphysical systems, the problem of dynamic sensor activation for the centralized tracking of an i.i.d. time-varying process is examined. The tradeoff is between energy…
This paper presents a solution for persistent monitoring of real-world stochastic phenomena, where the underlying covariance structure changes sharply across time, using a small number of mobile robot sensors. We propose an adaptive…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…
We consider optimal sensor placement for hyper-parameterized linear Bayesian inverse problems, where the hyper-parameter characterizes nonlinear flexibilities in the forward model, and is considered for a range of possible values. This…
In this article, we address the problem of computing adaptive sensorimotor models that can be used for guiding the motion of robotic systems with uncertain action-to-perception relations. The formulation of the uncalibrated sensor-based…
Indoor localization is a supporting technology for a broadening range of pervasive wireless applications. One promis- ing approach is to locate users with radio frequency fingerprints. However, its wide adoption in real-world systems is…
In this paper, we address a class of distributed optimization problems in the presence of inter-agent communication delays based on passivity. We first focus on unconstrained distributed optimization and provide a passivity-based…
Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…
MR image sparsity/compressibility has been widely exploited for imaging acceleration with the development of compressed sensing. A sparsity-based approach to rigid-body motion correction is presented for the first time in this paper. A…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
Surface matching usually provides significant deformations that can lead to structural failure due to the lack of physical policy. In this context, partial surface matching of non-linear deformable bodies is crucial in engineering to govern…
In cardiac magnetic resonance (CMR) imaging, a 3D high-resolution segmentation of the heart is essential for detailed description of its anatomical structures. However, due to the limit of acquisition duration and respiratory/cardiac…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
This paper presents a new method to solve a dynamic sensor fusion problem. We consider a large number of remote sensors which measure a common Gauss-Markov process and encoders that transmit the measurements to a data fusion center through…