相关论文: Multi Order Coverage data structure to plan multi-…

This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…

Over-the-air computation (OAC) leverages the physical superposition property of wireless multiple access channels (MACs) to compute functions while communication occurs, enabling scalable and low-latency processing in distributed networks.…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

This manuscript explores the complexities of multi-objective path planning, aiming to optimize routes against a backdrop of conflicting performance criteria. The study integrates the cell mapping approach as its foundational concept. A…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

Massive multiple-input multiple-output (MIMO) is a key enabler for the high data rates required by the sixth-generation networks, yet its performance hinges on effective beam management with low training overhead. This paper proposes an…

Recent advancements in the synthesis of anisotropic macromolecules and nanoparticles have spurred an immense interest in theoretical and computational studies of self-assembly. The cornerstone of such studies is the role of shape in…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…

In future Internet-of-Things networks, sensors or even access points can be mounted on ground/aerial vehicles for smart-city surveillance or environment monitoring. To support the high-mobility sensing with low network latency, a technique…

Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…

In this paper, we present a robust multipath-based localization and mapping framework that exploits the phases of specular multipath components (MPCs) using a massive multiple-input multiple-output (MIMO) array at the base station.…

The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…

Over-the-air computation (AirComp) leveraging the superposition property of wireless multiple-access channel (MAC), is a promising technique for effective data collection and computation of large-scale wireless sensor measurements in…

Sophisticated analysis of modern large-scale structure surveys requires mock catalogs. Mock catalogs are used to optimize survey design, test reduction and analysis pipelines, make theoretical predictions for basic observables and propagate…

Perception still remains a challenging problem for autonomous navigation in unknown environment, especially for aerial vehicles. Most mapping algorithms for autonomous navigation are specifically designed for their very intended task, which…

Polarization plays an important role in various time-domain astrophysics to understand the magnetic fields, geometry, and environments of spatially unresolved variable sources. In this paper we present the results of laboratory and on-sky…

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…