Related papers: Optimal Coupled Sensor Placement and Path-Planning…
Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks…
Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…
In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path…
This paper presents a novel framework for goal-oriented optimal static sensor placement and dynamic sensor steering in PDE-constrained inverse problems, utilizing a Bayesian approach accelerated by low-rank approximations. The framework is…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…
Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently…
Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…
We design persistent surveillance strategies for the quickest detection of anomalies taking place in an environment of interest. From a set of predefined regions in the environment, a team of autonomous vehicles collects noisy observations,…
In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…
We investigate cross-layer optimization to route information across distributed wireless body-to-body networks, based on real-life experimental measurements. At the network layer, the best possible route is selected according to channel…
In recent years, Compressed Sensing (CS) has gained significant interest as a technique for acquiring high-resolution sensory data using fewer measurements than traditional Nyquist sampling requires. At the same time, autonomous robotic…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehicles, certifying the safety of the localization process poses…
We introduce and study the problem in which a mobile sensing robot (our tourist) is tasked to travel among and gather intelligence at a set of spatially distributed point-of-interests (POIs). The quality of the information collected at each…
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
Accurately estimating the position of a wireless emitter in a multipath environment based on samples received at various base stations (in known locations) has been extensively explored in the literature. Existing approaches often assume…
Integrated sensing and communication (ISAC) relies on monostatic sensing (MS) and bistatic positioning (BP) to enable comprehensive environmental awareness and user localization. However, existing frameworks predominantly assume static…