相关论文: Optimization of Existing Centroiding Algorithms fo…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
Atmospheric optical turbulence (OT) monitoring is crucial for site characterisation at astronomical observatories and optical communications ground stations. The Shack-Hartmann Image Motion Monitor (SHIMM) instrument implements a fast,…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
We present a method of centroiding undersampled point spread functions (PSFs) that may be useful, especially when dithering is not an option. If the profile of the expected PSF is known fairly well through characterization of the telescope…
This paper proposes a dynamic sensor scheduling method for sensor networks. In sensor network applications, we often need multiple equally-informative node subsets that are activated sequentially to make a sensor network robust against…
Quantifying the amount of polarization is crucial for understanding and studying political polarization in political and social systems. Several methods are used commonly to measure polarization in social networks by purely inspecting their…
As Wireless Sensor Networks are penetrating into the industrial domain, many research opportunities are emerging. One such essential and challenging application is that of node localization. A feed-forward neural network based methodology…
The localization problem in a wireless sensor network is to determine the coordination of sensor nodes using the known positions of some nodes (called anchors) and corresponding noisy distance measurements. There is a variety of different…
This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
In this paper we describe weighting techniques used for the optimal coaddition of CCD frames with differing characteristics. Optimal means maximum signal-to-noise (s/n) for stellar objects. We derive formulae for four applications: 1)…
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a new Center-of-Mass (CoM)-based grasp pose adaptation method,…
Digital co-addition of astronomical images is a common technique for increasing signal-to-noise and image depth. A modification of this simple technique has been applied to the detection of minor bodies in the Solar System: first stationary…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
SAT technology has proven to be surprisingly effective in a large variety of domains. However, for the Weighted CSP problem dedicated algorithms have always been superior. One approach not well-studied so far is the use of SAT in…
The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…
In this paper, we propose an analytical model to estimate the signal-to-noise ratio (SNR) at the output of an adaptive equalizer in intensity modulation and direct detection (IMDD) optical transmission systems affected by shot noise,…
In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first…
The analysis of structure-preserving numerical methods for the Poisson--Nernst--Planck (PNP) system has attracted growing interests in recent years. In this work, we provide an optimal rate convergence analysis and error estimate for finite…