相关论文: A Fisher Information based Receding Horizon Contro…
This technical report is an extended version of the paper 'A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA).…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
In this paper, we develop a provably correct optimal control strategy for a finite deterministic transition system. By assuming that penalties with known probabilities of occurrence and dynamics can be sensed locally at the states of the…
The reconfigurable intelligent surface (RIS) has drawn considerable attention for its ability to enhance the performance of not only the wireless communication but also the indoor localization with low-cost. This paper investigates the…
This paper considers the problem of state tracking with observation control for a particular class of dynamical systems. The system state evolution is described by a discrete-time, finite-state Markov chain, while the measurement process is…
This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing mobile obstacles and time-varying areas of interest (i.e.,…
Planning the movement of the sink to maximize the lifetime in wireless sensor networks is an essential problem of great research challenge and practical value. Many existing mobile sink techniques based on mathematical programming or…
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chance constraints are formulated in the receding horizon control…
In this paper, we consider the problem of sensor selection for parameter estimation with correlated measurement noise. We seek optimal sensor activations by formulating an optimization problem, in which the estimation error, given by the…
We study a hierarchical heterogeneous Rayleigh fading wireless sensor network (WSN) in which sensor nodes surveil a region of interest (RoI) and use access points (APs) as relays to transmit their sensed information to base stations (BSs).…
Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
In modern wireless networks, devices are able to set the power for each transmission carried out. Experimental but also theoretical results indicate that such power control can improve the network capacity significantly. We study this…
In this paper, localization using narrowband communication signals are considered in the presence of fading channels with time of arrival measurements. When narrowband signals are used for localization, due to existing hardware constraints,…
Intelligent Reflecting Surface (IRS) is envisioned to be a promising green and cost-effective solution to enhance wireless network performance by smartly reconfiguring the signal propagation. In this paper, we study an IRS-aided…
We study the problem of estimating a continuous ability parameter from sequential binary responses by actively asking questions with varying difficulties, a setting that arises naturally in adaptive testing and online preference learning.…
Age of information (AoI) measures information freshness at the receiver. AoI may provide insights into quality of service in communication systems. For this reason, it has been used as a cross-layer metric for wireless communication…
It has been shown that using appropriate channel coding schemes in wireless environments, transmission energy can be significantly reduced by controlling the packet transmission rate. This paper seeks optimal solutions for downlink…
Emerging applications of collaborative autonomy, such as Multi-Target Tracking, Unknown Map Exploration, and Persistent Surveillance, require robots plan paths to navigate an environment while maximizing the information collected via…
We consider the problem of distributed estimation of a Gaussian vector with linear observation model. Each sensor makes a scalar noisy observation of the unknown vector, quantizes its observation, maps it to a digitally modulated symbol,…