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Astrophysical sources are now observed by many different instruments at different wavelengths, from radio to high-energy gamma-rays, with an unprecedented quality. Putting all these data together to form a coherent view, however, is a very…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
Covariance matrix estimation is an important problem in multivariate data analysis, both from theoretical as well as applied points of view. Many simple and popular covariance matrix estimators are known to be severely affected by model…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
This paper addresses maximum likelihood (ML) estimation based model fitting in the context of extrasolar planet detection. This problem is featured by the following properties: 1) the candidate models under consideration are highly…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
We consider the localization problem of multiple wideband sources in a multi-path environment by coherently taking into account the attenuation characteristics and the time delays in the reception of the signal. Our proposed method leaves…
In this paper, we present a drone-based delivery system that assumes to deal with two different mixed-areas, i.e., rural and urban. In these mixed-areas, called EM-grids, the distances are measured with two different metrics, and the…
The Downhill Simplex Method (DSM) is a fast-converging derivative-free optimization technique for nonlinear systems. However, the optimization process is often subject to premature convergence due to degenerated simplices or noise-induced…
We present a new method of training energy-based models (EBMs) for anomaly detection that leverages low-dimensional structures within data. The proposed algorithm, Manifold Projection-Diffusion Recovery (MPDR), first perturbs a data point…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
We present novel solutions to the problem of direct localization of multiple narrow-band and arbitrarily correlated sources by partly calibrated arrays, i.e., arrays composed of fully calibrated sub-arrays yet lacking inter-array…
Training deep learning recommendation models (DLRMs) on edge workers brings several benefits, particularly in terms of data privacy protection, low latency and personalization. However, due to the huge size of embedding tables, typical DLRM…
Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…
Many DNN-enabled vision applications constantly operate under severe energy constraints such as unmanned aerial vehicles, Augmented Reality headsets, and smartphones. Designing DNNs that can meet a stringent energy budget is becoming…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
We present an endpoint box regression module(epBRM), which is designed for predicting precise 3D bounding boxes using raw LiDAR 3D point clouds. The proposed epBRM is built with sequence of small networks and is computationally lightweight.…
We study the problem of recovering a globally consistent Euclidean embedding of data, given only a local distance graph and propose a method that optimally represents these distances. The method operates solely on a neighborhood graph…
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
Hybrid localization in GNSS-challenged environments using measured ranges and angles is becoming increasingly popular, in particular with the advent of multimodal communication systems. Here, we address the hybrid network localization…