相关论文: Autonomous search for a diffusive source in an unk…

Identifying the location and characteristics of pollution sources in turbulent flows is challenging, especially for environmental monitoring and emergency response, due to sparse, stochastic, and infrequent cue detection. Even in idealized…

While diffusion models excel at generating high-quality images from text prompts, they struggle with visual consistency when generating image sequences. Existing methods generate each image independently, leading to disjointed narratives -…

Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered…

We study a lattice model describing the non-equilibrium dynamics emerging from the pulling of a tracer particle through a disordered medium occupied by randomly placed obstacles. The model is considered in a restricted geometry pertinent…

We propose a mechanism for a velocity-selective device, which exploits the fundamental phenomenon of dynamical localization. It would allow packets of cold atoms travelling through a pulsed optical lattice in one direction to pass…

We investigate the obstructed motion of tracer (test) particles in crowded environments by carrying simulations of two-dimensional Gaussian random walk in model fibrinogen monolayers of different orientational ordering. The fibrinogen…

Gas source localization (GSL) with an autonomous robot is a problem with many prospective applications, from finding pipe leaks to emergency-response scenarios. In this work, we present a new method to perform GSL in realistic indoor…

We consider the "searching for a trail in a maze" composite hypothesis testing problem, in which one attempts to detect an anomalous directed path in a lattice 2D box of side n based on observations on the nodes of the box. Under the signal…

Autonomous odor source localization remains a challenging problem for aerial robots due to turbulent airflow, sparse and delayed sensory signals, and strict payload and compute constraints. While prior unmanned aerial vehicle (UAV)-based…

Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…

The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…

This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system…

Boundary-induced transport in particle systems with anomalous diffusion exhibits rectification, negative resistance, and hysteresis phenomena depending on the way the drive acts on the boundary. The solvable case of a 1D system…

We consider an infinite chain of particles linearly coupled to their nearest neighbours and subject to an anharmonic local potential. The chain is assumed weakly inhomogeneous. We look for small amplitude discrete breathers. The problem is…

We study the diffusion of a tracer particle, which moves in continuum space between a lattice of excluded volume, immobile non-inert obstacles. In particular, we analyse how the strength of the tracer-obstacle interactions and the volume…

Real-world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation and control tasks to maintain robustness to changing dynamics or modeling errors.…

We consider random walkers searching for a target in a bounded one-dimensional heterogeneous environment, in the interval $[0,L]$, where diffusion is described by a space-dependent diffusion coefficient $D(x)$. Boundary conditions are…

We devise a method to detect and estimate forces in a heterogeneous environment based on experimentally recorded stochastic trajectories. In particular, we focus on systems modeled by the heterogeneous overdamped Langevin equation. Here,…

A discrete-time totally asymmetric simple exclusion process on a lattice with open boundaries is considered. There are particles of different types. The type of a particle is characterized by the probability that a particle moves to a…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…