相关论文: Online Estimation of Ocean Current from Sparse GPS…

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…

It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…

We consider the problem of tracking the minimum of a time-varying convex optimization problem over a dynamic graph. Motivated by target tracking and parameter estimation problems in intermittently connected robotic and sensor networks, the…

This paper introduces Bayesian supervised and unsupervised segmentation algorithms aimed at oceanic segmentation of SAR images. The data term, \emph{i.e}., the density of the observed backscattered signal given the region, is modeled by a…

The expected improvement (EI) algorithm is one of the most popular strategies for optimization under uncertainty due to its simplicity and efficiency. Despite its popularity, the theoretical aspects of this algorithm have not been properly…

We show that Gaussian process regression (GPR) can be used to infer the electromagnetic (EM) duct height within the marine atmospheric boundary layer (MABL) from sparsely sampled propagation factors within the context of bistatic radars. We…

Earth observation (EO) by airborne and satellite remote sensing and in-situ observations play a fundamental role in monitoring our planet. In the last decade, machine learning and Gaussian processes (GPs) in particular has attained…

The thesis focuses on developing a data-driven algorithm, based on machine learning, to solve the stochastic alternating current (AC) chance-constrained (CC) Optimal Power Flow (OPF) problem. Although the AC CC-OPF problem has been…

Online Gaussian processes (GPs), typically used for learning models from time-series data, are more flexible and robust than offline GPs. Both local and sparse approximations of GPs can efficiently learn complex models online. Yet, these…

We develop new efficient online algorithms for detecting transient sparse signals in TEM video sequences, by adopting the recently developed framework for sequential detection jointly with online convex optimization [1]. We cast the problem…

Lagrangian ocean drifters provide highly accurate approximations of ocean surface currents but are sparsely located across the globe. As drifters passively follow ocean currents, there is minimal control on where they will be making…

These days we live in a world with a permanent electromagnetic field. This raises many questions about our health and the deployment of new equipment. The problem is that these fields remain difficult to visualize easily, which only some…

We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…

We present a planning framework for minimising the deterministic worst-case error in sparse Gaussian process (GP) regression. We first derive a universal worst-case error bound for sparse GP regression with bounded noise using interpolation…

In an era where maritime infrastructures are crucial, advanced situational awareness solutions are increasingly important. The use of optical camera systems can allow real-time usage of maritime footage. This thesis presents an…

Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…

Expectation-Maximization (EM) is a prominent approach for parameter estimation of hidden (aka latent) variable models. Given the full batch of data, EM forms an upper-bound of the negative log-likelihood of the model at each iteration and…

We present an end-to-end deep learning framework for short-term forecasting of global sea surface dynamics based on sparse satellite altimetry data. Building on two state-of-the-art architectures: U-Net and 4DVarNet, originally developed…

Projection-based model reduction is among the most widely adopted methods for constructing parametric Reduced-Order Models (ROM). Utilizing the snapshot data from solving full-order governing equations, the Proper Orthogonal Decomposition…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…