相关论文: Artificial Hair Sensor Placement Optimization on A…

This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…

Autonomous systems can be used to search for sparse signals in a large space; e.g., aerial robots can be deployed to localize threats, detect gas leaks, or respond to distress calls. Intuitively, search algorithms may increase efficiency by…

This paper investigates the sparse optimal allocation of sensors for detecting sparse leaking emission sources. Because of the non-negativity of emission rates, uncertainty associated with parameters in the forward model, and sparsity of…

Automatic Dependent Surveillance Broadcast (ADS-B) sensors deployed on the ground are central to observing aerial movements of aircraft. Their unsystematic placement, however, results in over-densification of sensor coverage in some areas…

Machine learning-based models provide a promising way to rapidly acquire transonic swept wing flow fields but suffer from large computational costs in establishing training datasets. Here, we propose a physics-embedded transfer learning…

Optimal sensor placement is a central challenge in the design, prediction, estimation, and control of high-dimensional systems. High-dimensional states can often leverage a latent low-dimensional representation, and this inherent…

This work contributes to efforts on autonomously detecting a vegetation-occluded target by airborne observers. It investigates and enhances previous work on a Particle Swarm Optimization (PSO) strategy for Airborne Optical Sectioning (AOS)…

Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…

Robotic telescopes present the opportunity for the sparse temporal placement of observations when period searching. We address the best way to place a limited number of observations to cover the dynamic range of frequencies required by an…

We consider the anchor placement problem in localization based on one-way ranging, in which either the sensor or the anchors send the ranging signals. The number of anchors deployed over a geographical area is generally sparse, and we show…

Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…

Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…

Sparse wideband sensor array design for sensor location optimisation is highly nonlinear and it is traditionally solved by genetic algorithms, simulated annealing or other similar optimization methods. However, this is an extremely…

Animal behavior and neural recordings show that the brain is able to measure both the intensity of an odor and the timing of odor encounters. However, whether intensity or timing of odor detections is more informative for olfactory-driven…

How to design an optimal wearable device for human movement recognition is vital to reliable and accurate human-machine collaboration. Previous works mainly fabricate wearable devices heuristically. Instead, this paper raises an academic…

Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…

Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow estimation from low-density and noisy point clouds acquired…

Most skydiving accidents occur during the parafoil-piloting and landing stages and result from human lapses in judgment while piloting the parafoil. Training of novice pilots is protracted due to the lack of functional and easily accessible…

Autonomous vehicles have created a sensation in both outdoor and indoor applications. The famous indoor use-case is process automation inside a warehouse using Autonomous Indoor Vehicles (AIV). These vehicles need to locate themselves not…

We present an optimized algorithm for assigning fibers to targets in next-generation fiber-fed multi-object spectrographs. The method, that we named draining algorithm, ensures that the maximum number of targets in a given target field is…