Related papers: Indoor Navigation Using Information From A Map And…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Nonlinear function estimation is core to modern machine learning applications. In this paper, to perform nonlinear function estimation, we reduce a nonlinear inverse problem to a linear one using a polynomial kernel expansion. These kernels…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

This paper reports the design of a high-accuracy spatial location estimation method using ultrasound waves by exploiting the fixed geometry of the transmitters. Assuming an isosceles triangle antenna configuration, where three antennas are…

This paper introduces a statistical model and corresponding sequential Bayesian estimation method for terrain-based navigation using side-scan sonar (SSS) data. The presented approach relies on slant range measurements extracted from the…

As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…

In this paper, we focus on the potential use of unmanned aerial vehicles (UAVs) for search and rescue (SAR) missions in GPS-denied indoor environments. We consider the problem of navigating a UAV to a wireless signal source, e.g., a…

A Bayesian approach is presented for detecting and characterising the signal from discrete objects embedded in a diffuse background. The approach centres around the evaluation of the posterior distribution for the parameters of the discrete…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

The rise of the Internet of Things (IoT) and mobile internet applications has spurred interest in location-based services (LBS) for commercial, military, and social applications. While the global positioning system (GPS) dominates outdoor…

We apply a linear Bayesian model to seismic tomography, a high-dimensional inverse problem in geophysics. The objective is to estimate the three-dimensional structure of the earth's interior from data measured at its surface. Since this…

The set of nonnegative integer lattice points in a polytope, also known as the fiber of a linear map, makes an appearance in several applications including optimization and statistics. We address the problem of sampling from this set using…

In this paper, we consider the problem of sensor selection for parameter estimation with correlated measurement noise. We seek optimal sensor activations by formulating an optimization problem, in which the estimation error, given by the…

In the Wireless Localization Matching Problem (WLMP) the challenge is to match pieces of equipment with a set of candidate locations based on wireless signal measurements taken by the pieces of equipment. This challenge is complicated by…

Recommendation systems are present in multiple contexts as e-commerce, websites, and media streaming services. As scenarios get more complex, techniques and tools have to consider a number of variables. When recommending services/products…

The question of how "smart" active agents, like insects, microorganisms, or future colloidal robots need to steer to optimally reach or discover a target, such as an odor source, food, or a cancer cell in a complex environment has recently…

Applying Bayesian optimization in problems wherein the search space is unknown is challenging. To address this problem, we propose a systematic volume expansion strategy for the Bayesian optimization. We devise a strategy to guarantee that…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Precise object boundary detection for automatic image segmentation is critical for image analysis, including that used in computer-aided diagnosis. However, such detection traditionally uses active contour or snake models requiring accurate…

We introduce a new algorithm to construct travel time distances between a point in the interior of a Riemannian manifold and points on the boundary of the manifold, and describe a numerical implementation of the algorithm. It is known that…