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As a powerful approach for exploratory data analysis, unsupervised clustering is a fundamental task in computer vision and pattern recognition. Many clustering algorithms have been developed, but most of them perform unsatisfactorily on the…

Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…

Fully supervised deep-learning based denoisers are currently the most performing image denoising solutions. However, they require clean reference images. When the target noise is complex, e.g. composed of an unknown mixture of primary…

Deep Reinforcement Learning is quickly becoming a popular method for training autonomous Unmanned Aerial Vehicles (UAVs). Our work analyzes the effects of measurement uncertainty on the performance of Deep Reinforcement Learning (DRL) based…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

The Denoising Autoencoder (DAE) enhances the flexibility of the data stream method in exploiting unlabeled samples. Nonetheless, the feasibility of DAE for data stream analytic deserves an in-depth study because it characterizes a fixed…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

We devise neuro-dynamic state estimation (Neuro-DSE), a learning-based dynamic state estimation (DSE) algorithm for networked microgrids (NMs) under unknown subsystems. Our contributions include: 1) a data-driven Neuro-DSE algorithm for NMs…

Accurate estimation of the dynamic states of a synchronous machine (e.g., rotor s angle and speed) is essential in monitoring and controlling transient stability of a power system. It is well known that the covariance matrixes of process…

Monocular Depth and Surface Normals Estimation (MDSNE) is crucial for tasks such as 3D reconstruction, autonomous navigation, and underwater exploration. Current methods rely either on discriminative models, which struggle with transparent…

We propose a novel deep neural network (DNN) based approximation architecture to learn estimates of measurements. We detail an algorithm that enables training of the DNN. The DNN estimator only uses measurements, if and when they are…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

Deep learning has been widely adopted to tackle various code-based tasks by building deep code models based on a large amount of code snippets. While these deep code models have achieved great success, even state-of-the-art models suffer…

Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms' slip perception use tactile or vision sensors. However, mobile robots…

This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…

With the mass construction of Gen III nuclear reactors, it is a popular trend to use deep learning (DL) techniques for fast and effective diagnosis of possible accidents. To overcome the common problems of previous work in diagnosing…

The accurate Attitude Heading Reference System(AHRS) is an important apart of the UAV reliable flight system. Aiming at the application scenarios of near ground navigation of small-UAV, this paper establishes a loose couple error model of…

Fast and robust dynamic state estimation (DSE) is essential for accurately capturing the internal dynamic processes of power systems, and it serves as the foundation for reliably implementing real-time dynamic modeling, monitoring, and…

Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep…

Due to the growing amount of data from in-situ sensors in wastewater systems, it becomes necessary to automatically identify abnormal behaviours and ensure high data quality. This paper proposes an anomaly detection method based on a deep…