Related papers: Trajectory Based Observer Design: A Framework for …
Ensemble methods are a reliable way to combine several models to achieve superior performance. However, research on the application of ensemble methods in the remote sensing object detection scenario is mostly overlooked. Two problems…
We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…
We propose a linear time-difference-of-arrival (TDOA) measurement model to improve \textit{distributed} estimation performance for localized target tracking. We design distributed filters over sparse (possibly large-scale) communication…
With the advancement of deep learning, object detectors (ODs) with various architectures have achieved significant success in complex scenarios like autonomous driving. Previous adversarial attacks against ODs have been focused on designing…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
We present a novel approach, referred to as the 'threshold shift method' (TSM), for reliability based design optimization (RBDO). The proposed approach is similar in spirit with the sequential optimization and reliability analysis (SORA)…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
A near-field wideband communication system is investigated in which a base station (BS) employs an extra-large scale antenna array (ELAA) to serve multiple users in its near-field region. To facilitate near-field multi-user beamforming and…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
Optimal experimental design provides a way of determining a-priori the best locations at which to place accelerometers in vibrations analysis experiments. However, in practice, sensors often fail during experimentation due high mechanical…
Object detection is a critical field in computer vision focusing on accurately identifying and locating specific objects in images or videos. Traditional methods for object detection rely on large labeled training datasets for each object…
Cooperative suspended aerial transportation is highly susceptible to multi-source disturbances such as aerodynamic effects and thrust uncertainties. To achieve precise load manipulation, existing methods often rely on extra sensors to…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
We study the problem of object detection from a novel perspective in which annotation budget constraints are taken into consideration, appropriately coined Budget Aware Object Detection (BAOD). When provided with a fixed budget, we propose…
We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…