相关论文: Can Walker Localize The Middle Point of A Line-seg…

In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsystem is updated independently, even when a relative…

We observe that changing a phase at a single point in a discrete quantum walk results in a rather surprising localization effect. For certain values of this phase change the possibility of localization strongly depends on the internal…

We introduce and study the Marco Polo problem, which is a combinatorial approach to geometric localization. In this problem, we are told there are one or more points of interest (POIs) within distance $n$ of the origin that we wish to…

A given region in 2-D Euclidean space is divided by a unknown linear classifier in to two sets each carrying a label. The objective of an agent with known dynamics traversing the region is to identify the true classifier while paying a…

Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…

A multiscale numerical method is proposed for the solution of semi-linear elliptic stochastic partial differential equations with localized uncertainties and non-linearities, the uncertainties being modeled by a set of random parameters. It…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…

Recently developed deep learning models are able to learn to segment scenes into component objects without supervision. This opens many new and exciting avenues of research, allowing agents to take objects (or entities) as inputs, rather…

In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…

Semidiscrete optimal transport is a challenging generalization of the classical transportation problem in linear programming. The goal is to design a joint distribution for two random variables (one continuous, one discrete) with fixed…

We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…

We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…

We investigate rigidity-type problems on the real line and the circle in the non-generic setting. Specifically, we consider the problem of uniquely determining the positions of $n$ distinct points $V = {v_1, \ldots, v_n}$ given a set of…

We show that eigenvector centrality exhibits localization phenomena on networks that can be easily partitioned by the removal of a vertex cut set, the most extreme example being networks with a cut vertex. Three distinct types of…

This work presents an investigation on the scalability of a deep leaning (DL)-based blind transmitter positioning system for addressing the multi transmitter localization (MLT) problem. The proposed approach is able to estimate relative…

Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…

The implicit convex feasibility problem attempts to find a point in the intersection of a finite family of convex sets, some of which are not explicitly determined but may vary. We develop simultaneous and sequential projection methods…

The problem of missing link prediction in complex networks has attracted much attention recently. Two difficulties in link prediction are the sparsity and huge size of the target networks. Therefore, the design of an efficient and effective…

One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…