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In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on…
In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…
We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…
Object co-occurrences provide a key cue for finding objects successfully and efficiently in unfamiliar environments. Typically, one looks for cups in kitchens and views fridges as evidence of being in a kitchen. Such priors have also been…
Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…
In this paper, we present a consensus-based decentralized multi-robot approach to reconstruct a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment,…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
Planktonic organisms are of fundamental importance to marine ecosystems: they form the basis of the food web, provide the link between the atmosphere and the deep ocean, and influence global-scale biogeochemical cycles. Scientists are…
In this overview paper, data-driven learning model-based cooperative localization and location data processing are considered, in line with the emerging machine learning and big data methods. We first review (1) state-of-the-art algorithms…
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely distributed across the reef, and an AUV with…
Estimating the geographical range of a species from sparse observations is a challenging and important geospatial prediction problem. Given a set of locations where a species has been observed, the goal is to build a model to predict…
A key goal of exoplanet spectroscopy is to measure atmospheric properties, such as abundances of chemical species, in order to connect them to our understanding of atmospheric physics and planet formation. In this new era of high-quality…
We introduce a stochastic agent-based model for the flocking dynamics of self-propelled particles that exhibit velocity-alignment interactions with neighbours within their field of view. The stochasticity in the dynamics of the model arises…
We address the novel problem of detecting dynamic regions in CrowdCam images, a set of still images captured by a group of people. These regions capture the most interesting parts of the scene, and detecting them plays an important role in…
This paper considers an integrated sensing and communication system, where some radar targets also serve as communication scatterers. A location domain channel modeling method is proposed based on the position of targets and scatterers in…
Many imaging techniques for biological systems -- like fixation of cells coupled with fluorescence microscopy -- provide sharp spatial resolution in reporting locations of individuals at a single moment in time but also destroy the dynamics…
Since a spatial distribution of communication requests is inhomogeneous and related to a population, in constructing a network, it is crucial for delivering packets on short paths through the links between proximity nodes and for…