Related papers: Graph-based Simultaneous Localization and Bias Tra…
Stop location detection, within human mobility studies, has an impacts in multiple fields including urban planning, transport network design, epidemiological modeling, and socio-economic segregation analysis. However, it remains a…
Given a set of detections, detected at each time instant independently, we investigate how to associate them across time. This is done by propagating labels on a set of graphs, each graph capturing how either the spatio-temporal or the…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…
Predicting future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
A detailed understanding of the dynamic processes of vehicular radio channels is crucial for its realistic modeling. In this paper, we present multipath components (MPCs) tracking results from a channel sounder measurement with 1 GHz…
Motion prediction for traffic participants is essential for a safe and robust automated driving system, especially in cluttered urban environments. However, it is highly challenging due to the complex road topology as well as the uncertain…
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
This paper proposes a multipath compensation algorithm (MCA) to enhance the performance of an ultrasonic local positioning system under adverse multipath conditions. The proposed algorithm is based on the accurate estimation of the…
Accurately predicting the future motion of surrounding vehicles requires reasoning about the inherent uncertainty in driving behavior. This uncertainty can be loosely decoupled into lateral (e.g., keeping lane, turning) and longitudinal…
In many applications of computer vision it is important to accurately estimate the trajectory of an object over time by fusing data from a number of sources, of which 2D and 3D imagery is only one. In this paper, we show how to use a deep…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…
Multiobject tracking provides situational awareness that enables new applications for modern convenience, public safety, and homeland security. This paper presents a factor graph formulation and a particle-based sum-product algorithm (SPA)…
The phenomenon that multi-path components (MPCs) arrive in clusters has been verified by channel measurements, and is widely adopted by cluster-based channel models. As a crucial intermediate processing step, MPC clustering bridges raw data…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…