Related papers: Optimization of Radar Search Patterns for Multiple…
We introduce the dual-path fixing strategy to exploit dual algorithms for solving relaxations of mixed-integer nonlinear-optimization problems. Such dual algorithms are naturally applied in the context of branch-and-bound, and eventual…
We address the multi-satellite scheduling problem with limited observation capacities that arises from the need to observe a set of targets on the Earth's surface using imaging resources installed on a set of satellites. We define and…
Many practical applications require solving an optimization over large and high-dimensional data sets, which makes these problems hard to solve and prohibitively time consuming. In this paper, we propose a parallel distributed algorithm…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…
With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for…
Optimization of slow-time transmit sequence endows cognitive radar with the ability to suppress strong clutter in the range-Doppler domain. However, in practice, inaccurate target velocity information or random phase error would induce…
In this paper, we investigate the hybridization of constraint programming and local search techniques within a large neighbourhood search scheme for solving highly constrained nurse rostering problems. As identified by the research, a…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
Caching at base stations is a promising technology to satisfy the increasing capacity requirements and reduce the backhaul loads in future wireless networks. Careful design of random caching can fully exploit the file popularity and achieve…
Autonomous navigation often requires the simultaneous optimization of multiple objectives. The most common approach scalarizes these into a single cost function using a weighted sum, but this method is unable to find all possible trade-offs…
The goal of this chapter is to review the recent work and advances in the area of space-time beamforming algorithms and their application to radar systems. These systems include phased-array \cite{melvin} and multi-input multi-output (MIMO)…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
This paper uses the smoothing and mapping framework to solve the SLAM problem in indoor environments; focusing on how some key issues such as feature extraction and data association can be handled by applying probabilistic techniques. For…
Structured covariance matrix estimation in the presence of missing data is addressed in this paper with emphasis on radar signal processing applications. After a motivation of the study, the array model is specified and the problem of…
Multiagent planning and coordination problems are common and known to be computationally hard. We show that a wide range of two-agent problems can be formulated as bilinear programs. We present a successive approximation algorithm that…
The Sparse Approximation problem asks to find a solution $x$ such that $||y - Hx|| < \alpha$, for a given norm $||\cdot||$, minimizing the size of the support $||x||_0 := \#\{j \ |\ x_j \neq 0 \}$. We present valid inequalities for Mixed…
An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…
This article addresses improvements on the design of the adaptive normalized matched filter (ANMF) for radar detection. It is well-acknowledged that the estimation of the noise-clutter covariance matrix is a fundamental step in adaptive…
The paper addresses the design of adaptive radar detectors having desired behavior, in Gaussian disturbance with unknown statistics. Specifically, given detection probability specifications for chosen signal-to-noise ratios and steering…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…