Related papers: Active Localization of Gas Leaks using Fluid Simul…
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative…
Learning and reasoning about physical phenomena is still a challenge in robotics development, and computational sciences play a capital role in the search for accurate methods able to provide explanations for past events and rigorous…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the environment, as recognizing an object or asking someone for a…
Gas leaks pose significant risks to human health and the environment. Despite long-standing concerns, there are limited methods that can efficiently and accurately detect and segment leaks due to their concealed appearance and random…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Underground water and wastewater pipelines are vital for city operations but plagued by anomalies like leaks and infiltrations, causing substantial water loss, environmental damage, and high repair costs. Conventional manual inspections…
Detecting and localizing leaks in water distribution network systems is an important topic with direct environmental, economic, and social impact. Our paper is the first to explore the use of factor graph optimization techniques for leak…
The emulation of wireless nodes spatial position is a practice used by deployment engineers and network planners to analyze the characteristics of a network. In particular, nodes geolocation will directly impact factors such as…
A new method for optimal sensor placement based on variable importance of machine learned models is proposed. With its simplicity, adaptivity, and low computational cost, the method offers many advantages over existing approaches. The new…
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow estimation from low-density and noisy point clouds acquired…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
As the global deployment of carbon capture and sequestration (CCS) technology intensifies in the fight against climate change, it becomes increasingly imperative to establish robust monitoring and detection mechanisms for potential…
Gas leakage poses a significant hazard that requires prevention. Traditionally, human inspection has been used for detection, a slow and labour-intensive process. Recent research has applied machine learning techniques to this problem, yet…
Detecting leaks in water networks is a costly challenge. This article introduces a practical solution: the integration of optical network with water networks for efficient leak detection. Our approach uses a fiber-optic cable to measure…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
Large infrastructure networks (e.g. for transportation and power distribution) require constant monitoring for failures, congestion, and other adversarial events. However, assigning a sensor to every link in the network is often infeasible…
Recently, Vehicle-to-Everything(V2X) cooperative perception has attracted increasing attention. Infrastructure sensors play a critical role in this research field; however, how to find the optimal placement of infrastructure sensors is…