相关论文: A Successive-Elimination Approach to Adaptive Robo…
Coordinated multi-arm manipulation requires satisfying multiple simultaneous geometric constraints across high-dimensional configuration spaces, which poses a significant challenge for traditional planning and control methods. In this work,…
Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…
We consider the problem of Active Source Identification (ASI) in steady-state Advection-Diffusion (AD) transport systems. Unlike existing bio-inspired heuristic methods, we propose a model-based method that employs the AD-PDE to capture the…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
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…
Automotive radar has increasingly attracted attention due to growing interest in autonomous driving technologies. Acquiring situational awareness using multimodal data collected at high sampling rates by various sensing devices including…
Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
Unified 2D and 3D radio map construction supports network planning, wireless digital twins, and unmanned aerial vehicle (UAV) applications. In urban environments, blockage, reflection, and diffraction make accurate construction expensive…
Trajectory optimization of sensing robots to actively gather information of targets has received much attention in the past. It is well-known that under the assumption of linear Gaussian target dynamics and sensor models the stochastic…
Data-based and learning-based sound source localization (SSL) has shown promising results in challenging conditions, and is commonly set as a classification or a regression problem. Regression-based approaches have certain advantages over…
Discriminative correlation filter (DCF) based trackers have recently achieved excellent performance with great computational efficiency. However, DCF based trackers suffer boundary effects, which result in unstable performance in…
Matching pursuits are a class of greedy algorithms commonly used in signal processing, for solving the sparse approximation problem. They rely on an atom selection step that requires the calculation of numerous projections, which can be…
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…
Voice, as input, has progressively become popular on mobiles and seems to transcend almost entirely text input. Through voice, the voice search (VS) system can provide a more natural way to meet user's information needs. However, errors…
Tackling simulation optimization problems with non-convex objective functions remains a fundamental challenge in operations research. In this paper, we propose a class of random search algorithms, called Regular Tree Search, which…
Channel sensing consists of probing the channel from time to time to check whether or not it is active - say, because of an incoming message. When communication is sparse with information being sent once in a long while, channel sensing…
We focus on coherent direction of arrival estimation of wideband sources based on spatial sparsity. This area of research is encountered in many applications such as passive radar, sonar, mining, and communication problems, in which an…
The identification of sound sources is a common problem in acoustics. Different parameters are sought, among these are signal and position of the sources. We present an adjoint-based approach for sound source identification, which employs…
This paper introduces a state-machine model for a multi-modal, multi-robot environmental sensing algorithm tailored to dynamic real-world settings. The algorithm uniquely combines two exploration strategies for gas source localization and…