相关论文: Egoistic MDS-based Rigid Body Localization

In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…

Accurate localization ability is fundamental in autonomous driving. Traditional visual localization frameworks approach the semantic map-matching problem with geometric models, which rely on complex parameter tuning and thus hinder…

We introduce techniques for analysing the structure of quantum states of many-body localized (MBL) spin chains by identifying correlation clusters from pairwise correlations. These techniques proceed by interpreting pairwise correlations in…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

Arbitrary-oriented objects widely appear in natural scenes, aerial photographs, remote sensing images, etc., thus arbitrary-oriented object detection has received considerable attention. Many current rotation detectors use plenty of anchors…

Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…

This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

Euclidean Distance Matrix (EDM), which consists of pairwise squared Euclidean distances of a given point configuration, finds many applications in modern machine learning. This paper considers the setting where only a set of anchor nodes is…

Utilizing exact diagonalization (ED) techniques, we investigate a one-dimensional, non-reciprocal, interacting hard-core boson model under a Stark potential with tail curvature. By employing the non-zero imaginary eigenenergies ratio,…

For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

We propose to apply spin noise spectroscopy (SNS) to detect many-body localization (MBL) in disordered spin systems. The SNS methods are relatively non-invasive technique to probe spontaneous spin fluctuations. We here show that the spin…

Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…

Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…

Efficient and effective exploration in continuous space is a central problem in applying reinforcement learning (RL) to autonomous driving. Skills learned from expert demonstrations or designed for specific tasks can benefit the…

The disordered many-body systems can undergo a transition from the extended ensemble to a localized ensemble, known as many-body localization (MBL), which has been intensively explored in recent years. Nevertheless, the relation between…

Recent studies point towards nontriviality of the ergodic phase in systems exhibiting many-body localization (MBL), which shows subexponential relaxation of local observables, subdiffusive transport and sublinear spreading of the…

Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…