相关论文: Mobile Sensing of Two-Dimensional Bandlimited Fiel…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…

The last decade has seen an explosion in data sources available for the monitoring and prediction of environmental phenomena. While several inferential methods have been developed that make predictions on the underlying process by combining…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

Compressive Sensing, as an emerging technique in signal processing is reviewed in this paper together with its common applications. As an alternative to the traditional signal sampling, Compressive Sensing allows a new acquisition strategy…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

Many signal and image processing applications have benefited remarkably from the fact that the underlying signals reside in a low dimensional subspace. One of the main models for such a low dimensionality is the sparsity one. Within this…

Compressed sensing is a signal processing method that acquires data directly in a compressed form. This allows one to make less measurements than what was considered necessary to record a signal, enabling faster or more precise measurement…

Wireless signal strength based localization can enable robust localization for robots using inexpensive sensors. For this, a location-to-signal-strength map has to be learned for each access point in the environment. Due to the ubiquity of…

In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

We exploit the information derived from geographical coordinates to endogenously identify spatial regimes in technologies that are the result of a variety of complex, dynamic interactions among site-specific environmental variables and…

This work considers distributed sensing and transmission of sporadic random samples. Lower bounds are derived for the reconstruction error of a single normally or uniformly-distributed finite-dimensional vector imperfectly measured by a…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…

In the training process of the implicit 3D reconstruction network, the choice of spatial query points' sampling strategy affects the final performance of the model. Different works have differences in the selection of sampling strategies,…

Two-sample testing is a fundamental problem in statistics. Despite its long history, there has been renewed interest in this problem with the advent of high-dimensional and complex data. Specifically, in the machine learning literature,…

In this work, we investigate the sampling and reconstruction of spectrally $s$-sparse bandlimited graph signals governed by heat diffusion processes. We propose a random space-time sampling regime, referred to as {randomized} dynamical…