Related papers: Optimization of a Moving Sensor Trajectory for Obs…

In this paper, we study optimization problems where the cost function contains time-varying parameters that are unmeasurable and evolve according to linear, yet unknown, dynamics. We propose a solution that leverages control theoretic tools…

This paper describes an optimization framework to design guidance for a possibly heterogeneous team of multiple mobile sensors to estimate a spatiotemporal process modeled by a 2D diffusion-advection process. Owing to the abstract linear…

The problem of optimal switching between nonlinear autonomous subsystems is investigated in this study where the objective is not only bringing the states to close to the desired point, but also adjusting the switching pattern, in the sense…

A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…

We derive a novel efficient scheme to measure the rate constant of transitions between stable states separated by high free energy barriers in a complex environment within the framework of transition path sampling. The method is based on…

This paper presents a two-phase cooperative communication strategy and an optimal power allocation strategy to transmit sensor observations to a fusion center in a large-scale sensor network. Outage probability is used to evaluate the…

This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…

We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…

We consider the classical sensor scheduling problem for linear systems where only one sensor is activated at each time. We show that the sensor scheduling problem has a close relation to the sensor design problem and the solution of a…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…

We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…

The paper algorithmizes the problem of regime change point identification for data measured in a system exhibiting impulsive behaviors. This is a fundamental challenge for annotation of measurement data relevant, e.g., for designing…

In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…

Improving and optimizing oceanographic sampling is a crucial task for marine science and maritime resource management. Faced with limited resources in understanding processes in the water-column, the combination of statistics and autonomous…

A sensitive porosity adjoint method (SPAM) for optimizing the topology of fluid machines has been proposed. A sensitivity function with respect to the porosity has been developed. In the first step of the optimization process, porous media…

Using the growing volumes of vehicle trajectory data, it becomes increasingly possible to capture time-varying and uncertain travel costs in a road network, including travel time and fuel consumption. The current paradigm represents a road…

Coherent wide parameter-space searches for continuous gravitational waves are typically limited in sensitivity by their prohibitive computing cost. Therefore semi-coherent methods (such as StackSlide) can often achieve a better sensitivity.…

Time delay and velocity estimation has been a widely studied subject in the context of signal processing, with applications in many different fields of physics. The velocity of fluctuation structures is typically estimated as the distance…