Related papers: Multi-Sensor Control for Multi-Target Tracking Usi…
In this paper, we propose an approximate Bayesian computation approach to perform a multiple target tracking within a binary sensor network. The nature of the binary sensors (getting closer - moving away information) do not allow the use of…
In many real world problems, control decisions have to be made with limited information. The controller may have no a priori (or even posteriori) data on the nonlinear system, except from a limited number of points that are obtained over…
A large-scale multi-object tracker based on the generalised labeled multi-Bernoulli (GLMB) filter is proposed. The algorithm is capable of tracking a very large, unknown and time-varying number of objects simultaneously, in the presence of…
As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogeneous LiDAR sensors has been actively conducted. Existing MSS…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
In multimodal traffic monitoring, we gather traffic statistics for distinct transportation modes, such as pedestrians, cars and bicycles, in order to analyze and improve people's daily mobility in terms of safety and convenience. On account…
Besides improving communication performance, intelligent reflecting surfaces (IRSs) are also promising enablers for achieving larger sensing coverage and enhanced sensing quality. Nevertheless, in the absence of a direct path between the…
This paper addresses the problem of distributed coordination control for multi-robot systems (MRSs) in the presence of localization uncertainty using a Linear Quadratic Gaussian (LQG) approach. We introduce a stochastic LQG control strategy…
The generalized labeled multi-Bernoulli (GLMB) filter is a theoretically rigorous Bayes-optimal multitarget tracking algorithm with computationally tractable implementations, based on labeled random finite set (LRFS) theory. It presumes…
We study real-time detection of low-rank changes in the covariance structure of high-dimensional streaming data, motivated by robotic swarm monitoring. Building on the spiked covariance model, we propose the Multi-rank Subspace-CUSUM…
In the realm of geospatial analysis, the diversity of remote sensors, encompassing both optical and microwave technologies, offers a wealth of distinct observational capabilities. Recognizing this, we present msGFM, a multisensor geospatial…
We consider optimal signalling and control of discrete-time nonlinear partially observable stochastic systems in state space form. In the first part of the paper, we characterize the operational {\it control-coding capacity}, $C_{FB}$ in…
In this paper we address the challenging problem of multiple source localization in Wireless Sensor Networks (WSN). We develop an efficient statistical algorithm, based on the novel application of Sequential Monte Carlo (SMC) sampler…
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
The class of Labeled Random Finite Set filters known as the delta-Generalized Labeled Multi-Bernoulli (dGLMB) filter represents the filtering density as a set of weighted hypotheses, with each hypothesis consisting of a set of labeled…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
The problem of detecting changes with multiple sensors has received significant attention in the literature. In many practical applications such as critical infrastructure monitoring and modeling of disease spread, a useful change…
In the Cognitive Compressive Sensing (CCS) problem, a Cognitive Receiver (CR) seeks to optimize the reward obtained by sensing an underlying $N$ dimensional random vector, by collecting at most $K$ arbitrary projections of it. The $N$…
In this research, a novel robust change detection approach is presented for imbalanced multi-temporal synthetic aperture radar (SAR) image based on deep learning. Our main contribution is to develop a novel method for generating difference…
Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…