Related papers: Trajectory Based Observer Design: A Framework for …
This paper presents a data-driven approach for designing state observers for continuous-time nonlinear systems, where an extended dynamic mode decomposition (EDMD) procedure is used to identify an approximate linear lifted model. Since such…
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…
Multiobject tracking provides situational awareness that enables new applications for modern convenience, applied ocean sciences, public safety, and homeland security. In many multiobject tracking applications, including radar and sonar…
Performance of object-oriented database systems (OODBs) is still an issue to both designers and users nowadays. The aim of this paper is to propose a generic discrete-event random simulation model, called VOODB, in order to evaluate the…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
4D millimeter-wave (MMW) radar, which provides both height information and dense point cloud data over 3D MMW radar, has become increasingly popular in 3D object detection. In recent years, radar-vision fusion models have demonstrated…
Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…
Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems. Predicting body dynamics requires capturing subtle…
The growing deployment of low-cost, distributed sensor networks in environmental and biomedical domains has enabled continuous, large-scale health monitoring. However, these systems often face challenges related to degraded data quality…
Multi-object tracking (MOT) is a rising topic in video processing technologies and has important application value in consumer electronics. Currently, tracking-by-detection (TBD) is the dominant paradigm for MOT, which performs target…
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…
The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…
This study investigates the application of modern control theory to improve the precision of spacecraft orbit maneuvers in low Earth orbit under the influence of solar radiation pressure. A full order observer based feedback control…
The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…
This paper presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) generates 3D proposals…
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen initial guesses for good performance,…
Source localization plays a key role in many applications including radar, wireless and underwater communications. Among various localization methods, the most popular ones are Time-Of-Arrival (TOA), Time-Difference-Of-Arrival (TDOA), and…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Multiple Object Tracking (MOT) is crucial to autonomous vehicle perception. End-to-end transformer-based algorithms, which detect and track objects simultaneously, show great potential for the MOT task. However, most existing methods focus…