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It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…

Bayesian graphical models are a useful tool for understanding dependence relationships among many variables, particularly in situations with external prior information. In high-dimensional settings, the space of possible graphs becomes…

In many applications, ranging from logistics to engineering, a designer is faced with a sequence of optimization tasks for which the objectives are in the form of black-box functions that are costly to evaluate. Furthermore, higher-fidelity…

The integration of aerial and ground images has been a promising solution in 3D modeling of complex scenes, which is seriously restricted by finding reliable correspondences. The primary contribution of this study is a feature matching…

3D Gaussian Splatting (3D-GS) has demonstrated exceptional capabilities in 3D scene reconstruction and novel view synthesis. However, its training heavily depends on high-quality, sharp images and accurate camera poses. Fulfilling these…

This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation. In particular, we show that by explicitly modeling the…

Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…

Reconstructing open surfaces from multi-view images is vital in digitalizing complex objects in daily life. A widely used strategy is to learn unsigned distance functions (UDFs) by checking if their appearance conforms to the image…

Searching for objects is a fundamental skill for robots. As such, we expect object search to eventually become an off-the-shelf capability for robots, similar to e.g., object detection and SLAM. In contrast, however, no system for 3D object…

Few-shot medical image segmentation (FSMIS) aims to perform the limited annotated data learning in the medical image analysis scope. Despite the progress has been achieved, current FSMIS models are all trained and deployed on the same data…

This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…

Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different…

In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…

In the domain of 3D scene representation, 3D Gaussian Splatting (3DGS) has emerged as a pivotal technology. However, its application to large-scale, high-resolution scenes (exceeding 4k$\times$4k pixels) is hindered by the excessive…

The Expectation-Maximization (EM) algorithm is a widely used method for maximum likelihood estimation in models with latent variables. For estimating mixtures of Gaussians, its iteration can be viewed as a soft version of the k-means…

Federated Trajectory Matching (FTM) is gaining increasing importance in big trajectory data analytics, supporting diverse applications such as public health, law enforcement, and emergency response. FTM retrieves trajectories that match…

This work focuses on modeling dynamic urban environments for autonomous driving simulation. Contemporary data-driven methods using neural radiance fields have achieved photorealistic driving scene modeling, but they suffer from low…

This paper develops an accurate, efficient filter (called the `TT filter') for tracking multiple targets using a spatially-distributed network of amplitude sensors that estimate distance but not direction. Several innovations are included…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control…