相关论文: Airflow Source Seeking on Small Quadrotors Using a…
We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…
Accurate 6D pose estimation and tracking are core capabilities for physical AI systems, yet real-world deployment remains brittle and labor-intensive. Many pipelines rely on CAD models, manual masking, or per-object adaptation, and still…
Chemical sensing in real-world environments requires resolving rapidly fluctuating and spatially heterogeneous concentration fields. However, these dynamics are strongly distorted by widely used, low-cost metal-oxide (MOx) gas sensors,…
This work studies the effectiveness of several machine learning techniques for predicting extreme events occurring in the flow around an airfoil at low Reynolds. For certain Reynolds numbers the aerodynamic forces exhibit intermittent…
A method enabling automatic detection and tracking of large amounts of individual dust particles in plasmas is presented. Individual trajectories can be found with a good spatiotemporal resolution, even without applying any external light…
Identifying the location and characteristics of pollution sources in turbulent flows is challenging, especially for environmental monitoring and emergency response, due to sparse, stochastic, and infrequent cue detection. Even in idealized…
Low-power a.c. generators of square-wave or sinusoidal signals can be used in combination with impedimetric sensors to detect stimuli on the basis of the voltage drop taking place at the sensor electrodes. When a.c. generators with a power…
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…
We propose to search for millicharged particles produced in high-intensity electron beam dumps using small ultralow-threshold sensors. As a concrete example, we consider a Skipper-CCD placed behind the beam dump in Hall A at Jefferson Lab.…
This work discusses a novel method for estimating the location of a gas source based on spatially distributed concentration measurements taken, e.g., by a mobile robot or flying platform that follows a predefined trajectory to collect…
In High Energy Physics experiments Particle Flow (PFlow) algorithms are designed to provide an optimal reconstruction of the nature and kinematic properties of the particles produced within the detector acceptance during collisions. At the…
State-of-the-art congestion control algorithms for data centers alone do not cope well with transient congestion and high traffic bursts. To help with these, we revisit the concept of direct \emph{backward} feedback from switches and…
This study presents a novel spatially disrupted flow control system inspired by the covert feathers on bird wings. The system is a passive flow control system consisting of multiple feather-inspired flaps that dynamically interact with the…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
A ground-to-air free-space optical link is studied for a hovering unmanned aerial vehicle (UAV) having multiple rotors. For this UAV, a four-quadrant array of photodetectors is used at the optical receiver to alleviate the adverse effect of…
The minimum network flow algorithm is widely used in multi-target tracking. However, the majority of the present methods concentrate exclusively on minimizing cost functions whose values may not indicate accurate solutions under occlusions.…
Source apportionment analysis, which aims to quantify the attribution of observed concentrations of multiple air pollutants to specific sources, can be formulated as a non-negative matrix factorization (NMF) problem. However, NMF is…
Deep within the networks of distributed systems, one often finds anomalies that affect their efficiency and performance. These anomalies are difficult to detect because the distributed systems may not have sufficient sensors to monitor the…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Particle filtering is a recursive Bayesian estimation technique that has gained popularity recently for tracking and localization applications. It uses Monte Carlo simulation and has proven to be a very reliable technique to model…