Related papers: Efficient Near Field Beam Tracking via Thompson Sa…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
We extend our study of Motion Planning via Manifold Samples (MMS), a general algorithmic framework that combines geometric methods for the exact and complete analysis of low-dimensional configuration spaces with sampling-based approaches…
In this paper, we propose an efficient beam tracking method for mobility scenario in mmWave-band communications. When the position of the mobile changes in mobility scenario, the base-station needs to perform beam training frequently to…
While recent years have witnessed astonishing improvements in visual tracking robustness, the advancements in tracking accuracy have been limited. As the focus has been directed towards the development of powerful classifiers, the problem…
Movable antenna (MA) systems have attracted growing interest in wireless communications due to their ability to reshape wireless channels via local antenna movement within a confined region. However, optimizing antenna positions to enhance…
Although recent Siamese network-based trackers have achieved impressive perceptual accuracy for single object tracking in LiDAR point clouds, they usually utilized heavy correlation operations to capture category-level characteristics only,…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
Time series foundation models (TSFMs) such as Lag-Llama, TimeGPT, Chronos, MOMENT, UniTS, and TimesFM have shown strong generalization and zero-shot capabilities for time series forecasting, anomaly detection, classification, and…
This paper proposes regenerative particle Thompson sampling (RPTS), a flexible variation of Thompson sampling. Thompson sampling itself is a Bayesian heuristic for solving stochastic bandit problems, but it is hard to implement in practice…
Sampling is a fundamental problem in computer science and statistics. However, for a given task and stream, it is often not possible to choose good sampling probabilities in advance. We derive a general framework for adaptively changing the…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Sensing-assisted predictive beamforming, as one of the enabling technologies for emerging integrated sensing and communication (ISAC) paradigm, shows significant promise for enhancing various future unmanned aerial vehicle (UAV)…
Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…
Tracking maneuvering targets requires estimators that are both responsive and robust. Interacting Multiple Model (IMM) filters are a standard tracking approach, but fusing models via Gaussian mixtures can lag during maneuvers. Recent…
Despite their theoretical advantages, track-before-detect (TBD) methods remain largely absent from real-world multi-target tracking applications due to their computational complexity and limited scalability. This paper presents a scalable…
Extremely large antenna arrays (ELAAs) operating in high-frequency bands have spurred the development of near-field communication, driving advancements in beam training design. This paper introduces an efficient near-field beam training…
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…
Large multiple antenna arrays coupled with accurate beamforming are essential in terahertz (THz) communications to ensure link reliability. However, as the number of antennas increases, beam alignment (focusing) and beam tracking in mobile…
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…