相关论文: An Active-Sensing Approach for Bearing-based Targe…

Consider a target moving at a constant velocity on a unit-circumference circle, starting at an arbitrary location. To acquire the target, any region of the circle can be probed to obtain a noisy measurement of the target's presence, where…

Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…

This paper presents novel algorithms for the Fermat-Weber Location Problem, guiding an autonomous agent to the point that minimizes the weighted sum of Euclidean distances to some beacons using only bearing measurements. The existing…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

In this paper, we propose a radio-based passive target tracking algorithm using multipath measurements, including the angle of arrival and relative distance. We focus on a scenario in which a mobile receiver continuously receives radio…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

This paper has studied the problem of detecting a range-spread target in interference and noise when the number of training data is limited. The interference is located within a certain subspace with an unknown coordinate, while the noise…

For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…

This paper considers the problem of resource-constrained and noise-limited localization and estimation of dynamic targets that are sparsely distributed over a large area. We generalize an existing framework [Bashan et al, 2008] for adaptive…

In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…

We study a stealthy range-sensor placement problem where a set of range sensors are to be placed with respect to targets to effectively localize them while maintaining a degree of stealthiness from the targets. This is an open and…

This paper addresses the deployment of sensors for a 2-D barrier coverage system. The challenge is to compute near-optimal sensor placements for detecting targets whose trajectories follow a log-Gaussian Cox line process. We explore sensor…

In this paper, we present a geometric framework for the passive localisation of static emitters. The objective is to localise the position of the emitters in a given area by centralised coordination of mobile passive sensors. This framework…

This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

This paper proposes a novel approach to robust radar detection of range-spread targets embedded in Gaussian noise with unknown covariance matrix. The idea is to model the useful target echo in each range cell as the sum of a coherent signal…

With the increase in demands for service robots and automated inspection, agents need to localize in its surrounding environment to achieve more natural communication with humans by shared contexts. In this work, we propose a novel but…

We study the important problem of tracking moving targets in wireless sensor networks. We try to overcome the limitations of standard state of the art tracking methods based on continuous location tracking, i.e. the high energy dissipation…

We consider a scenario where the aim of a group of agents is to perform the optimal coverage of a region according to a sensory function. In particular, centroidal Voronoi partitions have to be computed. The difficulty of the task is that…

Localization is the problem of estimating the location of an autonomous agent from an observation and a map of the environment. Traditional methods of localization, which filter the belief based on the observations, are sub-optimal in the…