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Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
A reconfigurable intelligent surface (RIS) is a nearly-passive flat layer made of inexpensive elements that can add a tunable phase shift to the impinging electromagnetic wave and are controlled by a low-power electronic circuit. This paper…
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…
Establishing trustworthy safety assurance for autonomous driving systems (ADSs) requires evidence that failures arise from avoidable system deficiencies rather than unavoidable traffic conflicts. Current adversarial simulation methods can…
With their robustness to adverse weather conditions and ability to measure speeds, radar sensors have been part of the automotive landscape for more than two decades. Recent progress toward High Definition (HD) Imaging radar has driven the…
Synthetic aperture radar (SAR) is a day or night any-weather imaging modality that is an important tool in remote sensing. Most existing SAR image formation methods result in a maximum a posteriori image which approximates the reflectivity…
4D radar has emerged as a critical sensor for autonomous driving, primarily due to its enhanced capabilities in elevation measurement and higher resolution compared to traditional 3D radar. Effective integration of 4D radar with cameras…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…
A radar system emits probing signals and records the reflections. Estimating the relative angles, delays, and Doppler shifts from the received signals allows to determine the locations and velocities of objects. However, due to practical…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…
Range profiling refers to the measurement of target response along the radar slant range. It plays an important role in automatic target recognition. In this paper, we consider the design of transmit waveform to improve the range profiling…
Nowadays, autonomous cars can drive smoothly in ordinary cases, and it is widely recognized that realistic sensor simulation will play a critical role in solving remaining corner cases by simulating them. To this end, we propose an…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
We present ARTPS (Autonomous Rover Target Prioritization System), a novel hybrid AI system that combines depth estimation, anomaly detection, and learnable curiosity scoring for autonomous exploration of planetary surfaces. Our approach…
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…