相关论文: Airflow Source Seeking on Small Quadrotors Using a…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
Locating the source of odor in a turbulent environment - a common behavior for living organisms - is non-trivial because of the random nature of mixing. Here we analyze the statistical physics aspects of the problem and propose an efficient…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating…
Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…
Proper indoor ventilation through buildings' heating, ventilation, and air conditioning (HVAC) systems has become an increasing public health concern that significantly impacts individuals' health and safety at home, work, and school. While…
Autonomous systems such as Unmanned Aerial Vehicles (UAVs) need to be able to recognise and track crowds of people, e.g. for rescuing and surveillance purposes. Large groups generate multiple measurements with uncertain origin.…
Sensors are routinely mounted on robots to acquire various forms of measurements in spatio-temporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained…
A novel methodology for measuring gas flow from small orifices or nozzles into vacuum is presented. It utilizes a high-intensity femtosecond laser pulse to create a plasma within the gas plume produced by the nozzle, which is imaged by a…
Air sensor networks provide hyperlocal, high temporal resolution data on multiple pollutants that can support credible identification of common pollution sources. Source apportionment using least squares-based non-negative matrix…
This paper is concerned with uniqueness, phase retrieval and shape reconstruction methods for solving inverse electromagnetic source scattering problems with multi-frequency sparse phased or phaseless far field data. With the phased data,…
Autonomous odor source localization remains a challenging problem for aerial robots due to turbulent airflow, sparse and delayed sensory signals, and strict payload and compute constraints. While prior unmanned aerial vehicle (UAV)-based…
Undocumented orphaned wells pose significant health and environmental risks to nearby communities by releasing toxic gases and contaminating water sources, with methane emissions being a primary concern. Traditional survey methods such as…
A new ESPRIT-based algorithm is proposed to estimate the direction-of-arrival of an arbitrary degree polynomial-phase signal with a single acoustic vector sensor. The proposed approach requires neither a priori knowledge of the…
Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…
(Abridged) We present a new method for detecting and measuring compact sources in conditions of intense, and highly variable, fore/background. While all most commonly used packages carry out the source detection over the signal image, our…
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…
When calculating satellite trajectories in low-earth orbit, engineers need to adequately estimate aerodynamic forces. But to this day, obtaining the drag acting on the complicated shapes of modern spacecraft suffers from many sources of…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…
The development of robust, real-time optical methods for the detection and tracking of particles in complex multiple scattering media is a problem of practical importance in a number of fields, including environmental monitoring, air…