相关论文: Source detection algorithms for dynamic contaminan…

In this paper, we examine a discrete dynamical system defined by x(n+1) = Ax(n)+ w(n), where x takes values in a Hilbert space H and w is a periodic source with values in a fixed closed subspace W of H. Our goal is to identify conditions on…

In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…

A novel unified Bayesian framework for network detection is developed, under which a detection algorithm is derived based on random walks on graphs. The algorithm detects threat networks using partial observations of their activity, and is…

Autonomous machines must self-maintain proper functionality to ensure the safety of humans and themselves. This pertains particularly to its cameras as predominant sensors to perceive the environment and support actions. A fundamental…

This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these…

We address the problem of sequentially selecting and observing processes from a given set to find the anomalies among them. The decision-maker observes one process at a time and obtains a noisy binary indicator of whether or not the…

The paper addresses the problem of distributed filtering with guaranteed convergence properties using minimum-energy filtering and $H_\infty$ filtering methodologies. A linear state space plant model is considered observed by a network of…

Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…

The robustness of dynamical systems against external perturbations is crucial in engineering; however, it is often overlooked for the lack of methods for rapidly computing it. This paper proposes a novel algorithm for estimating the…

This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…

This article develops a new mathematical method for holistic analysis of nonlinear dynamic compartmental systems through the system decomposition theory. The method is based on the novel dynamic system and subsystem partitioning…

The question of how "smart" active agents, like insects, microorganisms, or future colloidal robots need to steer to optimally reach or discover a target, such as an odor source, food, or a cancer cell in a complex environment has recently…

Bayesian change-point detection, together with latent variable models, allows to perform segmentation over high-dimensional time-series. We assume that change-points lie on a lower-dimensional manifold where we aim to infer subsets of…

The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how to sample the environment while avoiding obstacles.…

-In cognitive radio networks, spectrum sensing aims to detect the unused spectrum channels in order to use the radio spectrum more efficiently. Various methods have been proposed in the past, such as energy, feature detection, and matched…

Data collection in economically constrained countries often necessitates using approximate and biased measurements due to the low-cost of the sensors used. This leads to potentially invalid predictions and poor policies or decision making.…

System identification is a common tool for estimating (linear) plant models as a basis for model-based predictive control and optimization. The current challenges in process industry, however, ask for data-driven modelling techniques that…

The ability to search for radiation sources is of interest to the Homeland Security community. The hope is to find any radiation sources which may pose a reasonable chance for harm in a terrorist act. The best chance of success for search…

A consensus-based optimization (CBO) algorithm, which enables derivative and mesh-free optimization, is presented to localize a bioluminescent source. The light propagation is modeled by the radiative transfer equation approximated by…

Traditional control and monitoring of water quality in drinking water distribution networks (WDN) rely on mostly model- or toolbox-driven approaches, where the network topology and parameters are assumed to be known. In contrast, system…