相关论文: Controlled Tracking in Urban Terrain: Closing the …
The paper presents a receding horizon planning and control strategy for quadrotor-type \ac{mav}s to navigate reactively and intercept a moving target in a cluttered unknown and dynamic environment. Leveraging a lightweight short-range…
The next generation of radar systems will include advanced digital front-end technology in the apertures allowing for spatially subdividing radar tasks over the array, the so-called split-aperture phased array (SAPA) concept. The goal of…
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets,…
This paper deals with the design of slow-time coded waveforms which jointly optimize the detection probability and the measurements accuracy for track maintenance in the presence of colored Gaussian interference. The output…
Multiple-stage adaptive architectures are conceived to face with the problem of target detection buried in noise, clutter, and intentional interference. First, a scenario where the radar system is under the electronic attack of noise-like…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
Millimetre wave (mmWave) beam tracking is a challenging task because tracking algorithms are required to provide consistent high accuracy with low probability of loss of track and minimal overhead. To meet these requirements, we propose in…
In this letter, we consider the multiple-input multiple-output (MIMO) radar waveform design in the presence of signal-dependent clutters and additive white Gaussian noise. By imposing the constant modulus constraint (CMC) and waveform…
Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…
This paper investigates jointly optimal array geometry and waveform designs for active sensing. Specifically, we focus on minimizing the Cram\'er-Rao lower bound (CRB) of the angle of a single target in white Gaussian noise. We first find…
In this study, we develop a holistic framework for space-time adaptive processing (STAP) in connected and automated vehicle (CAV) radar systems. We investigate a CAV system consisting of multiple vehicles that transmit frequency-modulated…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
Significant progress has been made in training multimodal trajectory forecasting models for autonomous driving. However, effectively integrating these models with downstream planners and model-based control approaches is still an open…
Millimeter-wave (mmWave) hybrid analog-digital beamforming is a promising approach to satisfy the low-latency constraint in multiple unmanned aerial vehicles (UAVs) systems, which serve as network infrastructure for flexible deployment.…
A large-scale multi-object tracker based on the generalised labeled multi-Bernoulli (GLMB) filter is proposed. The algorithm is capable of tracking a very large, unknown and time-varying number of objects simultaneously, in the presence of…
In recent years, the integration of prediction and planning through neural networks has received substantial attention. Despite extensive studies on it, there is a noticeable gap in understanding the operation of such models within a…