Related papers: Localizing Multiple Radiation Sources Actively wit…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
Particle filters flexibly represent multiple posterior modes nonparametrically, via a collection of weighted samples, but have classically been applied to tracking problems with known dynamics and observation likelihoods. Such generative…
In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
Most studies that consider the problem of estimating the location of a point source in wireless sensor networks assume that the source location is estimated by a set of spatially distributed sensors, whose locations are fixed. Motivated by…
Particle tracking in biological imaging is concerned with reconstructing the trajectories, locations, or velocities of the targeting particles. The standard approach of particle tracking consists of two steps: first reconstructing…
A phase conjugation algorithm for localizing an extended radiating electromagnetic source from boundary measurements of the electric field is presented. Measurements are taken over a finite number of frequencies. The artifacts related to…
Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…
In this paper we address the problem of indoor localization using magnetic field data in two setups, when data is collected by (i) human-held mobile phone and (ii) by localization robots that perturb magnetic data with their own…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Accurate tracking in urban environments necessitates target birth, survival, and detection models that quantify the impact of terrain and building geometry on the sequential estimation procedure. Current efforts assume that target…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…
In this investigation, we propose several algorithms to recover the location and intensity of a radiation source located in a simulated 250 m x 180 m block in an urban center based on synthetic measurements. Radioactive decay and detection…
We present a methodology for automated real-time analysis of a radio image data stream with the goal to find transient sources. Contrary to previous works, the transients we are interested in occur on a time-scale where dispersion starts to…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
We present novel solutions to the problem of direct localization of multiple narrow-band and arbitrarily correlated sources by partly calibrated arrays, i.e., arrays composed of fully calibrated sub-arrays yet lacking inter-array…
Localization of a radio frequency (RF) signal source has various use cases, ranging from search and rescue, identification and deactivation of jammers, and tracking hostile activity near borders or on the battlefield. The use of unmanned…
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…