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Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
The proliferation of Deep Neural Networks has resulted in machine learning systems becoming increasingly more present in various real-world applications. Consequently, there is a growing demand for highly reliable models in many domains,…
A moving target may enter a radar coverage area unannounced and leave after an unspecified period, which implies that the target's entry time and departure time are unknown. In the absence of these time information, target detection and…
Problems that require the parameterization of closed contours arise frequently in computer vision applications. This article introduces a new curve parameterization algorithm that is able to fit a closed curve to a set of points while being…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
This paper deals with joint adaptive radar detection and target bearing estimation in the presence of mutual coupling among the array elements. First of all, a suitable model of the signal received by the multichannel radar is developed via…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
The increasing congestion in the near-Earth space environment has amplified the need for robust and efficient conjunction analysis techniques including the computation of the minimum distance between orbital paths in the presence of…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…
We present unsupervised parameter learning in a Gaussian variational inference setting that combines classic trajectory estimation for mobile robots with deep learning for rich sensor data, all under a single learning objective. The…
We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial measurement unit (IMU). Adverse weather conditions do not have a significant…
Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…
Over the past decade, optical orbital angular momentum (OAM) modes were shown to offer advantages in optical information acquisition. Here, we introduce a new scheme for optical ranging in which depth is estimated through the angular…
This paper introduces two new algorithms to accurately estimate the process noise covariance of a discrete-time Kalman filter online for robust orbit determination in the presence of dynamics model uncertainties. Common orbit determination…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
The calibration of weather radar for detecting meteorological phenomena has advanced rapidly, aiming to enhance accuracy. Utilizing an unmanned aerial vehicle (UAV) equipped with a suspended metal sphere introduces an efficient calibration…
Doppler radars are routinely used for the remote sensing of oceanic surface currents and atmospheric wind profiles. Even though they operate at different frequencies and address different media, they follow very similar processing for the…
In this paper, we pursue the study of the radar ambiguity problem started in \cite{Ja,GJP}. More precisely, for a given function $u$ we ask for all functions $v$ (called \emph{ambiguity partners}) such that the ambiguity functions of $u$…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…