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Seamless situational awareness provided by modern radar systems relies on effective methods for multiobject tracking (MOT). This paper presents a graph-based Bayesian method for nonlinear and high-dimensional MOT problems that embeds…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been…
Radar must adapt to changing environments, and we propose changepoint detection as a method to do so. In the world of increasingly congested radio frequencies, radars must adapt to avoid interference. Many radar systems employ the…
Neural Radiance Fields (NeRFs) have been remarkably successful at synthesizing novel views of 3D scenes by optimizing a volumetric scene function. This scene function models how optical rays bring color information from a 3D object to the…
This study provides a detailed analysis of current advancements in dynamic object tracking (DOT) and trajectory prediction (TP) methodologies, including their applications and challenges. It covers various approaches, such as feature-based,…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
Various autonomous or assisted driving strategies have been facilitated through the accurate and reliable perception of the environment around a vehicle. Among the commonly used sensors, radar has usually been considered as a robust and…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
Two algorithms are introduced for the computation of discrete integral transforms with a multiscale approach operating in discrete three-dimensional (3D) volumes while considering its real-time implementation. The first algorithm, referred…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and…
Predicting click-through rates (CTR) is a fundamental task for Web applications, where a key issue is to devise effective models for feature interactions. Current methodologies predominantly concentrate on modeling feature interactions…
In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…
In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…
Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…
A new dynamic system approach to the problem of radiative transfer inside scattering and absorbing media is presented, directly based on firsthand physical principles. This method, the Dynamic Radiative Transfer System (DRTS), calculates…
Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding…
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly…
Active Object Tracking (AOT) aims to maintain a specific relation between the tracker and object(s) by autonomously controlling the motion system of a tracker given observations. AOT has wide-ranging applications, such as in mobile robots…