相关论文: Multi Order Coverage data structure to plan multi-…
Multi-modality spatio-temporal (MoST) data extends spatio-temporal (ST) data by incorporating multiple modalities, which is prevalent in monitoring systems, encompassing diverse traffic demands and air quality assessments. Despite…
Simultaneously visualizing the decision and objective space of continuous multi-objective optimization problems (MOPs) recently provided key contributions in understanding the structure of their landscapes. For the sake of advancing these…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
Within the scope of the Planck IDIS (Integrated Data Information System) project we have started to develop the data model for time-ordered data and full-sky maps. The data model is part of the Data Management Component (DMC), a software…
The following paper presents a novel orthogonal pilot design dedicated for \textcolor{black}{integrated sensing and communications (ISAC)} systems performing multi-user communications and target detection. After careful characterization of…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
This paper develops a framework that models and optimizes the operations of complex on-orbit servicing infrastructures involving one or more servicers and orbital depots to provide multiple types of services to a fleet of geostationary…
Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory…
Sky coverage is one of the most important pieces of information about astronomical observations. We discuss possible representations, and present algorithms to create and manipulate shapes consisting of generalized spherical polygons with…
Optical and radar satellite time series are synergetic: optical images contain rich spectral information, while C-band radar captures useful geometrical information and is immune to cloud cover. Motivated by the recent success of temporal…
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…
Optical wireless communication (OWC) is a promising technology that can provide high data rates while supporting multiple users. The Optical Wireless (OW) physical layer has been researched extensively, however less work was devoted to…
This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic voxel mapping requires storing past point clouds and…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
Large datasets of sub-meter aerial imagery represented as orthophoto mosaics are widely available today, and these data sets may hold a great deal of untapped information. This imagery has a potential to locate several types of features;…
Software design patterns present general code solutions to common software design problems. Modern software systems rely heavily on containers for running their constituent service components. Yet, despite the prevalence of ready-to-use…
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…