相关论文: Optimal Control of Sensor-Induced Illusions on Rob…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Trajectory and control secrecy is an important issue in robotics security. This paper proposes a novel algorithm for the control input inference of a mobile agent without knowing its control objective. Specifically, the algorithm first…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
A given region in 2-D Euclidean space is divided by a unknown linear classifier in to two sets each carrying a label. The objective of an agent with known dynamics traversing the region is to identify the true classifier while paying a…
We propose a novel architecture and training paradigm for training realistic PointGoal Navigation -- navigating to a target coordinate in an unseen environment under actuation and sensor noise without access to ground-truth localization.…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…
We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The sensor can move in a network-constrained…
Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…
Recent work has presented embodied agents that can navigate to point-goal targets in novel indoor environments with near-perfect accuracy. However, these agents are equipped with idealized sensors for localization and take deterministic…
This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems…
In the strategic facility location problem, a set of agents report their locations in a metric space and the goal is to use these reports to open a new facility, minimizing an aggregate distance measure from the agents to the facility.…
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…
Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…