Related papers: Sensors in Distributed Mixed Reality Environments
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
This paper describes an information system designed to support the large volume of monitoring information generated by a distributed testbed. This monitoring information is produced by several subsystems and consists of status and…
This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…
A key issue in the control of distributed discrete systems modeled as Markov decisions processes, is that often the state of the system is not directly observable at any single location in the system. The participants in the control scheme…
Cyber-physical systems increasingly rely on distributed computing platforms where sensing, computing, actuation, and communication resources are shared by a multitude of applications. Such `cyber-physical cloud computing platforms' present…
Constantly locating moving objects, i.e., geospatial tracking, is essential for autonomous building infrastructure. Accurate and robust geospatial tracking often leverages multimodal sensor fusion algorithms, which require large datasets…
Collaboration is a fundamental and essential characteristic of many complex systems, ranging from ant colonies to human societies. Each component within a complex system interacts with others, even at a distance, to accomplish a given task.…
Mixed Reality (MR) increasingly explores how virtual elements can shape physical behavior, yet how MR objects guide group movement remains underexplored. We address this gap by examining how virtual objects can nudge collective, co-located…
Classically, rasterization techniques are performed for real-time rendering to meet the constraint of interactive frame rates. However, such techniques do not produce realistic results as compared to ray tracing approaches. Hence, hybrid…
This work aims to design a distributed extended object tracking (EOT) system over a realistic network, where both the extent and kinematics are required to retain consensus within the entire network. To this end, we resort to the…
The internet-of-things (IoT) refers to the growing field of interconnected pervasive computing devices and the networking that supports smart, embedded applications. The IoT has multiple human-computer interaction challenges due to its many…
In this paper we deal with pedestrian modeling, aiming at simulating crowd behavior in normal and emergency scenarios, including highly congested mass events. We are specifically concerned with a new agent-based, continuous-in-space,…