Related papers: A Neural-enhanced Factor Graph-based Algorithm for…
Sensing is an integral part of 6G and beyond systems, providing exceptional environmental perception along with communication. Radio frequency (RF)-based sensing often relies on simplified geometric assumptions (e.g., point scatterers or…
We propose a computationally efficient algorithm for seizure detection. Instead of using a purely data-driven approach, we develop a hybrid model-based/data-driven method, combining convolutional neural networks with factor graph inference.…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
This paper explores the use of factor graphs as an inference and analysis tool for Bayesian peer-to-peer decentralized data fusion. We propose a framework by which agents can each use local factor graphs to represent relevant partitions of…
The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
Efficient spatial exploration is a key aspect of search and rescue. In this paper, we present a search algorithm that generates efficient trajectories that optimize the rate at which probability mass is covered by a searcher. This should…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from…
In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…
This paper presents a method to predict the evolution of a complex traffic scenario with multiple objects. The current state of the scenario is assumed to be known from sensors and the prediction is taking into account various hypotheses…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
Nowadays, several real-world tasks require adequate environment coverage for maintaining communication between multiple robots, for example, target search tasks, environmental monitoring, and post-disaster rescues. In this study, we look…
In the field of Multi-Agent Systems (MAS), known for their openness, dynamism, and cooperative nature, the ability to trust the resources and services of other agents is crucial. Trust, in this setting, is the reliance and confidence an…
In this paper, we present a semantic mapping approach with multiple hypothesis tracking for data association. As semantic information has the potential to overcome ambiguity in measurements and place recognition, it forms an eminent…
A multimodal system with Poisson, Gaussian, and multinomial observations is considered. A generative graphical model that combines multiple modalities through common factor loadings is proposed. In this model, latent factors are like…
Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising remedy,…