相关论文: A Lower Bound on Observability for Target Tracking…

This paper examines the problem of assigning a transmission power to every node of a wireless sensor network. The goal is to minimize the total power consumption while ensuring that the resulting communication graph is connected. We focus…

Multi-object tracking in videos requires to solve a fundamental problem of one-to-one assignment between objects in adjacent frames. Most methods address the problem by first discarding impossible pairs whose feature distances are larger…

We present and discuss general techniques for proving inapproximability results for truthful mechanisms. We make use of these techniques to prove lower bounds on the approximability of several non-utilitarian multi-parameter problems. In…

We consider the problem of minimal correction of the training set to make it consistent with monotonic constraints. This problem arises during analysis of data sets via techniques that require monotone data. We show that this problem is…

This paper addresses the problem of online inverse reinforcement learning for systems with limited data and uncertain dynamics. In the developed approach, the state and control trajectories are recorded online by observing an agent perform…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

Solving stochastic optimization problems under partial observability, where one needs to adaptively make decisions with uncertain outcomes, is a fundamental but notoriously difficult challenge. In this paper, we introduce the concept of…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

Over the last two decades, submodular function maximization has been the workhorse of many discrete optimization problems in machine learning applications. Traditionally, the study of submodular functions was based on binary function…

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…

Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…

A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…

Learning-enabled control systems increasingly rely on multiple sensing modalities (e.g., vision, audio, language, etc.) for perception and decision support. A key challenge is that multi-modal sensor training dynamics are often imbalanced:…

Simultaneous operation of all sensors in a large-scale sensor network is power-consuming and computationally expensive. Hence, it is desirable to select fewer sensors. A greedy algorithm is widely used for sensor selection in homogeneous…

We pose the approximation problem for scalar nonnegative input-output systems via impulse response convolutions of finite order, i.e. finite order moving averages, based on repeated observations of input/output signal pairs. The problem is…

For multi-valued functions---such as when the conditional distribution on targets given the inputs is multi-modal---standard regression approaches are not always desirable because they provide the conditional mean. Modal regression…

Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…

This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…

This paper studies sensor calibration in spectral estimation where the true frequencies are located on a continuous domain. We consider a uniform array of sensors that collects measurements whose spectrum is composed of a finite number of…

Object detection is an essential technique for autonomous driving. The performance of an object detector significantly degrades if the weather of the training images is different from that of test images. Domain adaptation can be used to…