相关论文: REVISE: Robust Probabilistic Motion Planning in a …

The theory of covariance control and covariance steering (CS) deals with controlling the dispersion of trajectories of a dynamical system, under the implicit assumption that accurate prior knowledge of the system being controlled is…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

We propose a 6D Bayesian-based localization framework to estimate the position and rotation angles of a mobile station (MS) within an indoor reconfigurable intelligent surface (RIS)-aided system. This framework relies on a probabilistic…

We propose a data-driven control method for systems with aleatoric uncertainty, for example, robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and…

Ensuring accurate and stable state estimation is a challenging task crucial to safety-critical domains such as high-speed autonomous racing, where measurement uncertainty must be both adaptive to the environment and temporally smooth for…

This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…

Nonlinear inverse problems pervade engineering and science, yet noisy, non-differentiable, or expensive residual evaluations routinely defeat Jacobian-based solvers. Derivative-free alternatives either demand smoothness, require large…

The problem of estimating a random vector x from noisy linear measurements y = A x + w with unknown parameters on the distributions of x and w, which must also be learned, arises in a wide range of statistical learning and linear inverse…

In this paper, the problem of robust reconfigurable intelligent surface (RIS) system design under changes in data distributions is investigated. Using the notion of invariant risk minimization (IRM), an invariant causal representation…

In this paper, we propose a novel computer vision-based approach to aid Reconfigurable Intelligent Surface (RIS) for dynamic beam tracking and then implement the corresponding prototype verification system. A camera is attached at the RIS…

Fast and efficient 3D reconstruction is essential for time-critical robotic applications such as tele-guidance and disaster response, where operators must rapidly analyze specific points of interest (POIs). Existing semantic Gaussian…

In this paper, we introduce a Gaussian process based moving horizon estimation (MHE) framework. The scheme is based on offline collected data and offline hyperparameter optimization. In particular, compared to standard MHE schemes, we…

Distribution system state estimation (DSSE) is paramount for effective state monitoring and control. However, stochastic outputs of renewables and asynchronous streaming of multi-rate measurements in practical systems largely degrade the…

This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…

The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged…

This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…

We propose a method for variable selection in the intensity function of spatial point processes that combines sparsity-promoting estimation with noise-robust model selection. As high-resolution spatial data becomes increasingly available…

This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formulation for ball-shaped ambiguity sets of Gaussian…

Building on a recent framework for distributionally robust optimization, we consider estimation of the inverse covariance matrix for multivariate data. We provide a novel notion of a Wasserstein ambiguity set specifically tailored to this…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation due to its efficiency and high-fidelity rendering. 3DGS training requires a known camera pose for each input view, typically obtained by Structure-from-Motion (SfM)…