Related papers: Efficient Evader Detection in Mobile Sensor Networ…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…
Many significant functionalities of vehicular ad hoc networks (VANETs) require that nodes have knowledge of the positions of other vehicles, and notably of those within communication range. However, adversarial nodes could provide false…
Multilayer networks allow for modeling complex relationships, where individuals are embedded in multiple social networks at the same time. Given the ubiquity of such relationships, these networks have been increasingly gaining attention in…
Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…
We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…
In networks of dynamic systems, one challenge is to identify the interconnection structure on the basis of measured signals. Inspired by a Bayesian approach in [1], in this paper, we explore a Bayesian model selection method for identifying…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Several years ago, wireless sensor networks were used only by the military. These networks, which have many uses and are subject to limitations, the most important of which is the energy constraint, this energy constraint creates the…
Advances in sensor technology have enabled the collection of large-scale datasets. Such datasets can be extremely noisy and often contain a significant amount of outliers that result from sensor malfunction or human operation faults. In…
Illegal vehicle parking is a common urban problem faced by major cities in the world, as it incurs traffic jams, which lead to air pollution and traffic accidents. The government highly relies on active human efforts to detect illegal…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
Spatial sampling is traditionally studied in a static setting where static sensors scattered around space take measurements of the spatial field at their locations. In this paper we study the emerging paradigm of sampling and reconstructing…
Most of the wireless sensor networks consist of static sensors, which can be deployed in a wide environment for monitoring applications. While transmitting the data from source to static sink, the amount of energy consumption of the sensor…
Wireless sensor networks consisting of great number of cheap and tiny sensor nodes which are used for military environment controlling, natural events recording, traffic monitoring, robot navigation, and etc. Such a networks encounter with…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
We consider a scenario where a team of two unmanned aerial vehicles (UAVs) pursue an evader UAV within an urban environment. Each agent has a limited view of their environment where buildings can occlude their field-of-view. Additionally,…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
The wireless channel changes continuously with time and frequency and the block-fading assumption, which is popular in many theoretical analyses, never holds true in practical scenarios. This discrepancy is critical for user activity…
The problem of quickest detection of dynamic events in networks is studied. At some unknown time, an event occurs, and a number of nodes in the network are affected by the event, in that they undergo a change in the statistics of their…
Many industrial and security applications employ a suite of sensors for detecting abrupt changes in temporal behavior patterns. These abrupt changes typically manifest locally, rendering only a small subset of sensors informative.…