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When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of current control strategies, restricting the range of…
The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…
Localization is a computer vision task by which the position and orientation of a camera is determined from an image and environmental map. We propose a method for performing localization in a privacy preserving manner supporting two…
In this paper, we present a two-layer architecture for bearing-only sensor placement that improves upon classical D-optimal design. The first layer reweights particles by minimizing Kullback-Leibler divergence from the current distribution…
In complex real-world settings, optimization is challenged by the presence of diverse models of differing fidelity. In many optimization problems, a single model is treated as the most accurate representation of the underlying system, while…
Deep learning-based watermarking has made remarkable progress in recent years. To achieve robustness against various distortions, current methods commonly adopt a training strategy where a \underline{\textbf{s}}ingle…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
The output-error method is a mainstay of aircraft system identification from flight-test data. It is the method of choice for a wide range of applications, from the estimation of stability and control derivatives for aerodynamic database…
Edge computing allows Service Providers (SPs) to enhance user experience by placing their services closer to the network edge. Determining the optimal provisioning of edge resources to meet the varying and uncertain demand cost-effectively…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
High-throughput solid-state nanopore experiments generate continuous MHz-rate data streams in which only a small fraction of data contains informative molecular information. This creates storage and processing bottlenecks that limit…
Estimation of the failure probability of offshore structures exposed to extreme ocean environments is critical to their safe design and operation. The conditional density of the environment (CDE) quantifies regions of the space of long term…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Large infrastructure networks (e.g. for transportation and power distribution) require constant monitoring for failures, congestion, and other adversarial events. However, assigning a sensor to every link in the network is often infeasible…
Today's Cloud applications are dominated by composite applications comprising multiple computing and data components with strong communication correlations among them. Although Cloud providers are deploying large number of computing and…
The localization speed and accuracy in the indoor scenario can greatly impact the Quality of Experience of the user. While many individual machine learning models can achieve comparable positioning performance, their prediction mechanisms…
The risk of soft errors due to radiation continues to be a significant challenge for engineers trying to build systems that can handle harsh environments. Building systems that are Radiation Hardened by Design (RHBD) is the preferred…
Accurate calibration is essential for instruments whose measurements must remain traceable, reliable, and compliant over long operating periods. Fixed-interval programs are easy to administer, but they ignore that instruments drift at…
Considering that the physical design of printed circuit board (PCB) follows the principle of modularized design, this paper proposes an automatic placement algorithm for functional modules. We first model the placement problem as a…
The quantum circuit mapping approach is an indispensable part of the software stack for the noisy intermediatescale quantum (NISQ) device. It has a significant impact on the reliability of computational tasks on NISQ devices. To improve the…