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Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…
We study the complexity of the maximum coverage problem, restricted to set systems of bounded VC-dimension. Our main result is a fixed-parameter tractable approximation scheme: an algorithm that outputs a $(1-\eps)$-approximation to the…
The problem of mobile position estimation in multipath scenarios is addressed. A low-complexity, fully-adaptive algorithm is proposed, based on the pseudo maximum likelihood approach. The processing is done exclusively on-board at the…
We consider a generalization of the classical planar maximum coverage location problem (PMCLP) in which partial coverage is allowed, facilities have adjustable quality of service (QoS) or service range, and demand zones and service zone of…
Computationally solving multi-marginal optimal transport (MOT) with squared Euclidean costs for $N$ discrete probability measures has recently attracted considerable attention, in part because of the correspondence of its solutions with…
Motivated by applications in machine learning, such as subset selection and data summarization, we consider the problem of maximizing a monotone submodular function subject to mixed packing and covering constraints. We present a tight…
We study the maximum set coverage problem in the massively parallel model. In this setting, $m$ sets that are subsets of a universe of $n$ elements are distributed among $m$ machines. In each round, these machines can communicate with each…
The rotation averaging problem is a fundamental task in computer vision applications. It is generally very difficult to solve due to the nonconvex rotation constraints. While a sufficient optimality condition is available in the literature,…
In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…
In recent years, the drive-by sensing paradigm has become increasingly popular for cost-effective monitoring of urban areas. Drive-by sensing is a form of crowdsensing wherein sensor-equipped vehicles (aka, mobile agents) are the primary…
In this article, we consider multiuser detection that copes with multiple access interference caused in star-topology machine-to-machine (M2M) communications. We assume that the transmitted signals are discrete-valued (e.g. binary signals…
A number of intriguing decision scenarios revolve around partitioning a collection of objects to optimize some application specific objective function. This problem is generally referred to as the Object Partitioning Problem (OPP) and is…
Wireless rechargeable sensor networks, consisting of sensor nodes with rechargeable batteries and mobile chargers to replenish their batteries, have gradually become a promising solution to the bottleneck of energy limitation that hinders…
In this paper, we aim at improving the tracking of road users in urban scenes. We present a constraint programming (CP) approach for the data association phase found in the tracking-by-detection paradigm of the multiple object tracking…
Compressed sensing has a wide range of applications that include error correction, imaging, radar and many more. Given a sparse signal in a high dimensional space, one wishes to reconstruct that signal accurately and efficiently from a…
This paper presents a preliminary conceptual investigation into an environment representation that has constant space complexity with respect to the camera image space. This type of representation allows the planning algorithms of a mobile…
A large number of cameras embedded on smart-phones, drones or inside cars have a direct access to external motion sensing from gyroscopes and accelerometers. On these power-limited devices, video compression must be of low-complexity. For…
In this paper, multi-snapshot Newtonized orthogonal matching pursuit (MNOMP) algorithm is proposed to deal with the line spectrum estimation with multiple measurement vectors (MMVs). MNOMP has the low computation complexity and…
The doubly selective (DS) channel estimation in the large-scale multiple-input multiple-output (MIMO) systems is a challenging problem due to the large number of the channel coefficients to be estimated, which requires unaffordable and…
Assume n wireless mobile sensors are initially dispersed in an ad hoc manner in a rectangular region. They are required to move to final locations so that they can detect any intruder crossing the region in a direction parallel to the sides…