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Detection of undersea threats is a complex problem of considerable importance for maritime regional surveillance and security. Multistatic sonar systems can provide a means to monitor for underwater threats, where fixed sensors, towed…

The active search for objects of interest in an unknown environment has many robotics applications including search and rescue, detecting gas leaks or locating animal poachers. Existing algorithms often prioritize the location accuracy of…

This paper investigates the performance of a lowcost Throttle-by-Wire-System (TbWS) for two-wheeler applications. Mopeds/scooters are still restricted environmentally harmful. Throttle-by-Wire-Systems can contribute to environmental…

Precision space inertial sensors are imperative to Earth geodesy missions, gravitational wave observations and several fundamental physics experiments in space. In these missions, the residual acceleration noise of the test mass(TM) caused…

Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems,…

Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a…

The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…

This paper introduces BAAS, a new Extended Object Tracking (EOT) and fusion-based label annotation framework for radar detections in autonomous driving. Our framework utilizes Bayesian-based tracking, smoothing and eventually fusion methods…

This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…

This paper proposes a data-driven framework to learn a finite-dimensional approximation of a Koopman operator for approximating the state evolution of a dynamical system under noisy observations. To this end, our proposed solution has two…

We consider the problem of estimating the state of a noisy linear dynamical system when an unknown subset of sensors is arbitrarily corrupted by an adversary. We propose a secure state estimation algorithm, and derive (optimal) bounds on…

Rail and wheel interaction functionality is pivotal to the railway system safety, requiring accurate measurement systems for optimal safety monitoring operation. This paper introduces an innovative onboard measurement system for monitoring…

This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…

We consider the classical sensor scheduling problem for linear systems where only one sensor is activated at each time. We show that the sensor scheduling problem has a close relation to the sensor design problem and the solution of a…

Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization…

Compressive sensing is the newly emerging method in information technology that could impact array beamforming and the associated engineering applications. However, practical measurements are inevitably polluted by noise from external…

Steer-by-Wire systems replace mechanical linkages, which provide benefits like weight reduction, design flexibility, and compatibility with autonomous driving. However, they are susceptible to high-frequency disturbances from unintentional…

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…

Active state tracking is needed in object classification, target tracking, medical diagnosis and estimation of sparse signals among other various applications. Herein, active state tracking of a discrete-time, finite-state Markov chain is…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…