Related papers: Distributed Information-based Source Seeking
In healthcare applications, there is a growing need to develop machine learning models that use data from a single source, such as that from a wrist wearable device, to monitor physical activities, assess health risks, and provide immediate…
We consider the distributed source coding problem in which correlated data picked up by scattered sensors has to be encoded separately and transmitted to a common receiver, subject to a rate-distortion constraint. Although near-tooptimal…
In this paper, we study a problem of detecting the source of diffused information by querying individuals, given a sample snapshot of the information diffusion graph, where two queries are asked: {\em (i)} whether the respondent is the…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
In this article, we consider the detection of a localized source emitting a signal using a wireless sensor network (WSN). We consider that geographically distributed sensor nodes obtain energy measurements and compute cooperatively and in a…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Identifying the diffusion source in complex networks is critical for understanding and controlling epidemic spread. In realistic settings, full observation of node states is rarely available, making sensor-based source detection a practical…
Indoor location identification and navigation need to be as simple, seamless, and ubiquitous as its outdoor GPS-based counterpart is. It would be of great convenience to the mobile user to be able to continue navigating seamlessly as he or…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
We consider decentralized optimization problems in which a number of agents collaborate to minimize the average of their local functions by exchanging over an underlying communication graph. Specifically, we place ourselves in an…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
In this paper, we consider the problem of locating the information source with sparse observations. We assume that a piece of information spreads in a network following a heterogeneous susceptible-infected-recovered (SIR) model and that a…
We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel…
In this article we analyze the state-of-the-art in multilateration - the family of localization methods enabled by the range difference observations. These methods are computationally efficient, signal-independent, and flexible with regards…