Related papers: Efficient Evader Detection in Mobile Sensor Networ…
Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are…
This paper considers the problem of optimally deploying omnidirectional sensors, with potentially limited sensing radius, in a network-like environment. This model provides a compact and effective description of complex environments as well…
We study a problem of distributed detection of a stationary point event in a large extent wireless sensor network ($\wsn$), where the event influences the observations of the sensors only in the vicinity of where it occurs. An event occurs…
Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making…
In this work, we propose a motion robust and high-speed detection pipeline which better leverages the event data. First, we design an event stream representation called temporal active focus (TAF), which efficiently utilizes the…
Mobility On Demand (MOD) systems are revolutionizing transportation in urban settings by improving vehicle utilization and reducing parking congestion. A key factor in the success of an MOD system is the ability to measure and respond to…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
This paper presents a detection algorithm for sensor attacks and a resilient state estimation scheme for a class of uniformly observable nonlinear systems. An adversary is supposed to corrupt a subset of sensors with the possibly unbounded…
Although the anchor-based detectors have taken a big step forward in pedestrian detection, the overall performance of algorithm still needs further improvement for practical applications, \emph{e.g.}, a good trade-off between the accuracy…
With the recent development of localization and tracking systems for both indoor and outdoor settings, we consider the problem of sensing, representing and analyzing human movement trajectories that we expect to gather in the near future.…
We consider a strategic network monitoring problem involving the operator of a networked system and an attacker. The operator aims to randomize the placement of multiple protected sensors to monitor and protect components that are…
Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…
Determining whether nodes can be localized, called localizability detection, is essential for wireless sensor networks (WSNs). This step is required for localizing nodes, achieving low-cost deployments, and identifying prerequisites in…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
Different collective behaviors emerging from the unknown have been examined in networks of mobile agents in recent years. Mobile systems, far from being limited to modeling and studying various natural and artificial systems in motion and…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
A wireless sensor network consists of light-weight, low power, small size sensor nodes. Routing in wireless sensor networks is a demanding task. This demand has led to a number of routing protocols which efficiently utilize the limited…
In this article we propose the use of accelerometer embedded by default in smartphone as a cost-effective, reliable and efficient way to provide remote physical activity monitoring for the elderly and people requiring healthcare service.…
We study a new random search process: the \textit{taxi-drive}. The motivation for this process comes from urban sensing, in which sensors are mounted on moving vehicles such as taxis, allowing urban environments to be opportunistically…