相关论文: Probability of detection of an extraneous mobile o…

Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…

We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…

In the fields of statistics and unsupervised machine learning a fundamental and well-studied problem is anomaly detection. Anomalies are difficult to define, yet many algorithms have been proposed. Underlying the approaches is the nebulous…

Arbitrary Pattern Formation is a widely studied problem in autonomous robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any arbitrary pattern…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…

Random projection is a common technique for designing algorithms in a variety of areas, including information retrieval, compressive sensing and measuring of outlyingness. In this work, the original random projection outlyingness measure is…

Addressing the issue of submerged underwater trash is crucial for safeguarding aquatic ecosystems and preserving marine life. While identifying debris present on the surface of water bodies is straightforward, assessing the underwater…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

Computing the probability of a formula given the probabilities or weights associated with other formulas is a natural extension of logical inference to the probabilistic setting. Surprisingly, this problem has received little attention in…

Many problems in geometric optics or convex geometry can be recast as optimal transport problems: this includes the far-field reflector problem, Alexandrov's curvature prescription problem, etc. A popular way to solve these problems…

This paper deals with a scene recognition system in a robotics contex. The general problem is to match images with <I>a priori</I> descriptions. A typical mission would consist in identifying an object in an installation with a vision…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

Buffon-Laplace Needle Problem considers a needle of a length $l$ randomly dropped on a large plane distributed with vertically parallel lines with distances $a$ and $b$ ($a \geqslant b$), respectively. As a classical problem in stochastic…

Object detection is a computer vision task that has become an integral part of many consumer applications today such as surveillance and security systems, mobile text recognition, and diagnosing diseases from MRI/CT scans. Object detection…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

How best to quantify the information of an object, whether natural or artifact, is a problem of wide interest. A related problem is the computability of an object. We present practical examples of a new way to address this problem. By…

Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…