Related papers: Trajectory Based Observer Design: A Framework for …
Thermal-Hydraulic (TH) experiments provide valuable insight into the physics of heat and mass transfer and qualified data for code development, calibration and validation. However, measurements are typically collected from sparsely…
Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…
In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despite the fact that contraction is a concept naturally suitable…
We present an instance of the optimal sensor scheduling problem with the additional relaxation that our observer makes active choices whether or not to observe and how to observe. We mask the nodes in a directed acyclic graph of the model…
Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approaches are common in general applications,…
Moving object detection (MOD) in remote sensing is significantly challenged by low resolution, extremely small object sizes, and complex noise interference. Current deep learning-based MOD methods rely on probability density estimation,…
Source localization techniques incorporating hybrid measurements improve the reliability and accuracy of the location estimate. Given a set of hybrid sensors that can collect combined time of arrival (TOA), received signal strength (RSS)…
We propose a strategy for optimizing a sensor trajectory in order to estimate the time dependence of a localized scalar source in turbulent channel flow. The approach leverages the view of the adjoint scalar field as the sensitivity of…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
This paper studies the reduced-order or full-order, dead-beat observer problem for a class of nonlinear systems, linear in the unmeasured states. A novel hybrid observer design strategy is proposed, with the help of the notion of strong…
In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…
In gradient-based time domain topology optimization, design sensitivity analysis (DSA) of the dynamic response is essential, and requires high computational cost to directly differentiate, especially for high-order dynamic system. To…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
We present a method to obtain a data-driven Koopman operator-based model that adapts itself during operation and can be straightforwardly used for the controller and observer design. The adaptive model is able to accurately describe…
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
Astronomic line mapping with single-pixel instruments is usually performed in an on-the-fly (OTF) or a raster-mapping mode depending on the capabilities of the telescope and the instrument. The observing efficiency can be increased by…
Multimodal sensor fusion is an essential capability for autonomous robots, enabling object detection and decision-making in the presence of failing or uncertain inputs. While recent fusion methods excel in normal environmental conditions,…
Automatic welding of tubular TKY joints is an important and challenging task for the marine and offshore industry. In this paper, a framework for tubular joint detection and motion planning is proposed. The pose of the real tubular joint is…