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

We address the problem of efficient and unobstructed surveillance or communication in complex environments. On one hand, one wishes to use a minimal number of sensors to cover the environment. On the other hand, it is often important to…

Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…

Multiple object tracking (MOT) is a task in computer vision that aims to detect the position of various objects in videos and to associate them to a unique identity. We propose an approach based on Constraint Programming (CP) whose goal is…

The ill-posedness of the inverse problem of recovering a regression function in a nonparametric instrumental variable model leads to estimators that may suffer from a very slow, logarithmic rate of convergence. In this paper, we show that…

Semi-supervised anomaly detection is based on the principle that potential anomalies are those records that look different from normal training data. However, in some cases we are specifically interested in anomalies that correspond to high…

We provide theoretical bounds on the worst case performance of the greedy algorithm in seeking to maximize a normalized, monotone, but not necessarily submodular objective function under a simple partition matroid constraint. We also…

Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…

Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…

We propose a method to optimally position a sensor system, which consists of multiple sensors, each has limited range and viewing angle, and they may fail with a certain failure rate. The goal is to find the optimal locations as well as the…

In several applications such as databases, planning, and sensor networks, parameters such as selectivity, load, or sensed values are known only with some associated uncertainty. The performance of such a system (as captured by some…

Submodular function minimization is well studied, and existing algorithms solve it exactly or up to arbitrary accuracy. However, in many applications, such as structured sparse learning or batch Bayesian optimization, the objective function…

In many high-frequency simulation workflows, eigenvalue tracking along a parameter variation is necessary. This can become computationally prohibitive when repeated time-consuming eigenvalue problems must be solved. Therefore, we employ a…

This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors; the…

Common machine learning settings range from supervised tasks, where accurately labeled data is accessible, through semi-supervised and weakly-supervised tasks, where target labels are scant or noisy, to unsupervised tasks where labels are…

In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…

We provide a necessary and sufficient condition under which a convex set is approachable in a game with partial monitoring, i.e.\ where players do not observe their opponents' moves but receive random signals. This condition is an extension…

In this paper, we mainly focus on the problem of multi-target observability, focusing on the unique state estimation criteria for multiple targets. We derive the condition which is necessary as well as sufficient for observability using…

In this paper we consider parallelization for applications whose objective can be expressed as maximizing a non-monotone submodular function under a cardinality constraint. Our main result is an algorithm whose approximation is arbitrarily…

This paper presents a solution to the problem of monitoring a region of interest (RoI) using a set of nodes that is not sufficient to achieve the required degree of monitoring coverage. In particular, sensing coverage of wireless sensor…

Unsupervised domain adaptation for object detection addresses the adaption of detectors trained in a source domain to work accurately in an unseen target domain. Recently, methods approaching the alignment of the intermediate features…