相关论文: Decentralized State Estimation: An Approach using …
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
Many reality tasks such as robot coordination can be naturally modelled as multi-agent cooperative system where the rewards are sparse. This paper focuses on learning decentralized policies for such tasks using sub-optimal demonstration. To…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
We evaluate different state representation methods in robot hand-eye coordination learning on different aspects. Regarding state dimension reduction: we evaluates how these state representation methods capture relevant task information and…
Our understanding of the world depends highly on our capacity to produce intuitive and simplified representations which can be easily used to solve problems. We reproduce this simplification process using a neural network to build a low…
The set-based estimation has gained a lot of attention due to its ability to guarantee state enclosures for safety-critical systems. However, collecting measurements from distributed sensors often requires outsourcing the set-based…
The accurate estimation of the state of complex uncertain physical systems requires reconciling theoretical models, with inherent imperfections, with noisy experimental data. In this work, we propose an effective hybrid approach that…
This paper addresses the problem of cooperative target tracking using a heterogeneous multi-robot system, where the robots are communicating over a dynamic communication network, and heterogeneity is in terms of different types of sensors…
Fast and robust dynamic state estimation (DSE) is essential for accurately capturing the internal dynamic processes of power systems, and it serves as the foundation for reliably implementing real-time dynamic modeling, monitoring, and…
We present a recurrent neural network-based approach for ground state preparation utilizing mid-circuit measurement and feedback. Unlike previous methods that use machine learning solely as an optimizer, our approach dynamically adjusts…
This paper proposes a secure state estimation scheme with non-periodic asynchronous measurements for linear continuous-time systems under false data attacks on the measurement transmit channel. After sampling the output of the system, a…
This paper addresses the problem of resilient state estimation and attack reconstruction for bounded-error nonlinear discrete-time systems with nonlinear observations/ constraints, where both sensors and actuators can be compromised by…
Quantum state tomography, an important task in quantum information processing, aims at reconstructing a state from prepared measurement data. Bayesian methods are recognized to be one of the good and reliable choice in estimating quantum…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
Recent years have seen an increased interest in using mean-field density based modelling and control strategy for deploying robotic swarms. In this paper, we study how to dynamically deploy the robots subject to their physical constraints…
A problem of distributed state estimation at multiple agents that are physically connected and have competitive interests is mapped to a distributed source coding problem with additional privacy constraints. The agents interact to estimate…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…