相关论文: Experimental Characterization of a Bearing-only Se…

Many multi-object estimation problems require additional estimation of model or sensor parameters that are either common to all objects or related to unknown characterisation of one or more sensors. Important examples of these include…

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…

In this paper a novelty filter is introduced which allows a robot operating in an un structured environment to produce a self-organised model of its surroundings and to detect deviations from the learned model. The environment is perceived…

We are experiencing an explosion in the amount of sensors measuring our activities and the world around us. These sensors are spread throughout the built environment and can help us perform state estimation and control of related systems,…

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar…

This paper aims to introduce a method for simulating with a real time performance the automotive LIDAR disturbance by dust clouds caused by natural phenomena, mechanical or man-made processes like a traveling vehicle. In this study, we are…

The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…

Wearable devices are becoming increasingly important, addressing needs in both the fitness and the medical markets. In this paper, we describe a novel sensing platform based on a hollow-core polyurethane optical fiber, operating through…

This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…

Bearing--only estimation is one of the fundamental and challenging problems in target tracking. As in the case of radar tracking, the presence of offset or position biases can exacerbate the challenges in bearing--only estimation. Modeling…

This paper focuses on designing a particle filter for randomly delayed measurements with an unknown latency probability. A generalized measurement model is adopted which includes measurements that are delayed randomly by an arbitrary but…

Once a Higgs boson has been discovered, it is also important to know what are its properties, in particular its couplings to the other particles. At the LHC, there will be many observable channels that can be used to measure the relevant…

Robust tracking of a target in a clutter environment is an important and challenging task. In recent years, the nearest neighbor methods and probabilistic data association filters were proposed. However, the performance of these methods…

Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The focus is on adapting the technique to handle the challenging…

We study the problem of searching for and tracking a collection of moving targets using a robot with a limited Field-Of-View (FOV) sensor. The actual number of targets present in the environment is not known a priori. We propose a search…

This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…

In previous work, we have argued that measurement using a radar can be viewed as taking the expected value of an operator. The operator usually represents some aspect of the characteristics of the object being tracked (such as Doppler,…

Whether a robot can perform some specific task depends on several aspects, including the robot's sensors and the plans it possesses. We are interested in search algorithms that treat plans and sensor designs jointly, yielding…

We present results from a set of experiments in this pilot study to investigate the causal influence of user activity on various environmental parameters monitored by occupant carried multi-purpose sensors. Hypotheses with respect to each…

This overview paper describes the particle methods developed for the implementation of the a class of Bayes filters formulated using the random finite set formalism. It is primarily intended for the readership already familiar with the…