相关论文: Learning excursion sets of vector-valued Gaussian …

Estimating excursion set confidence regions seeks to identify regions where a function may exceed some threshold with a given confidence level. This paper focuses on estimating such confidence regions in cases where the function has random…

Gaussian graphical model is a graphical representation of the dependence structure for a Gaussian random vector. It is recognized as a powerful tool in different applied fields such as bioinformatics, error-control codes, speech language,…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…

Accurate reconstruction of environmental scalar fields from sparse onboard observations is essential for autonomous vehicles engaged in aquatic monitoring. Beyond point estimates, principled uncertainty quantification is critical for active…

We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…

Constructing an occupancy representation of the environment is a fundamental problem for robot autonomy. Many accurate and efficient methods exist that address this problem but most assume that the occupancy states of different elements in…

Acquiring information on spatial phenomena can be costly and time-consuming. In this context, to obtain reliable global knowledge, the choice of measurement location is a crucial issue. Space-lling designs are often used to control…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Learning for control in repeated tasks allows for well-designed experiments to gather the most useful data. We consider the setting in which we use a data-driven controller that does not have access to the true system dynamics. Rather, the…

The paper presents a novel learning-based sampling strategy that guarantees rejection-free sampling of the free space under both biased and approximately uniform conditions, leveraging multivariate kernel densities. Historical data from a…

Model-based approaches bear great promise for decision making of agents interacting with the physical world. In the context of spatial environments, different types of problems such as localisation, mapping, navigation or autonomous…

Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…

Data collection costs can vary widely across variables in data science tasks. Two-phase designs can be employed to save data collection costs. This paper considers the two-phase studies where inexpensive variables are collected for all…

This paper introduces variational design methods that are novel to Geophysics, and discusses their benefits and limitations in the context of geophysical applications and more established design methods. Variational methods rely on…

Many environments, such as unvisited planetary surfaces and oceanic regions, remain unexplored due to a lack of prior knowledge. Autonomous vehicles must sample upon arrival, process data, and either transmit findings to a teleoperator or…

This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft…

In the study of natural and artificial complex systems, responses that are not completely determined by the considered decision variables are commonly modelled probabilistically, resulting in response distributions varying across decision…

Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the…

This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…