Related papers: Multi-Sensor Control for Multi-Object Bayes Filter…
This paper presents a novel framework for goal-oriented optimal static sensor placement and dynamic sensor steering in PDE-constrained inverse problems, utilizing a Bayesian approach accelerated by low-rank approximations. The framework is…
We study the problem of searching for and tracking a collection of moving targets using a robot with a limited Field-Of-View (FOV) sensor. The actual number of targets present in the environment is not known a priori. We propose a search…
In remote sensing, it is often challenging to acquire or collect a large dataset that is accurately labeled. This difficulty is usually due to several issues, including but not limited to the study site's spatial area and accessibility,…
The state space representation of active resident space objects can be posed in the form of a stochastic hybrid system. Satellite maneuvers may be accounted for according to control cost or heuristical considerations, yet it is possible to…
Integrated sensing and communication (ISAC) relies on monostatic sensing (MS) and bistatic positioning (BP) to enable comprehensive environmental awareness and user localization. However, existing frameworks predominantly assume static…
We investigate joint bistatic positioning (BP) and monostatic sensing (MS) within a multi-input multi-output orthogonal frequency-division system. Based on the derived Cram\'er-Rao Bounds (CRBs), we propose novel beamforming optimization…
Sensor signals acquired in the industrial process contain rich information which can be analyzed to facilitate effective monitoring of the process, early detection of system anomalies, quick diagnosis of fault root causes, and intelligent…
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…
Partially observable Markov decision processes (POMDPs) provide a modeling framework for autonomous decision making under uncertainty and imperfect sensing, e.g. robot manipulation and self-driving cars. However, optimal control of POMDPs…
This paper considers a batch solution to the multi-object tracking problem based on sets of trajectories. Specifically, we present two offline implementations of the trajectory Poisson multi-Bernoulli mixture (TPMBM) filter for batch data…
This study proposes an airborne multisensor management algorithm for target tracking, taking each of multiple unmanned aircraft as a sensor. The purpose of the algorithm is to determine the configuration of the sensor deployment and to…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
This work presents a cognitive radar (CR) framework to enhance remote sensing performance, specifically focusing on tracking multiple targets under unknown disturbances using massive multiple-input multiple-output (MMIMO) systems. Since…
This paper presents a general solution for computing the multi-object posterior for sets of trajectories from a sequence of multi-object (unlabelled) filtering densities and a multi-object dynamic model. Importantly, the proposed solution…
The growing proliferation of unmanned aerial vehicles (UAVs) poses major challenges for reliable airspace surveillance, as drones are typically small, have low radar cross-sections, and often move slowly in cluttered environments. These…
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…
As a promising technique, reconfigurable intelligent surfaces (RISs) exhibit its tremendous potential for high accuracy positioning. In this paper, we investigates multi-user localization and tracking problem in multi-RISs-assisted system.…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
Path planning for autonomous search and tracking of multiple objects is a critical problem in applications such as reconnaissance, surveillance, and data gathering. Due to the inherent competing objectives of searching for new objects while…
In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…