相关论文: Robust Global Localization Using Clustered Particl…

We review the background of the cluster algorithms in Monte Carlo simulation of statistical physics problems. One of the first such successful algorithm was developed by Swendsen and Wang eight years ago. In contrast to the local…

The problem of finding clusters in complex networks has been extensively studied by mathematicians, computer scientists and, more recently, by physicists. Many of the existing algorithms partition a network into clear clusters, without…

We investigate how ideas from covariance localization in numerical weather prediction can be used in Markov chain Monte Carlo (MCMC) sampling of high-dimensional posterior distributions arising in Bayesian inverse problems. To localize an…

In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…

Robot learning is often difficult due to the expense of gathering data. The need for large amounts of data can, and should, be tackled with effective algorithms and leveraging expert information on robot dynamics. Bayesian reinforcement…

This paper presents a new approach for the challenging problem of geo-locating an image using image matching in a structured database of city-wide reference images with known GPS coordinates. We cast the geo-localization as a clustering…

We introduce a new approach to tackle the mobile manipulator task sequencing problem. We leverage computational geometry, graph theory and combinatorial optimization to yield a principled method to segment the task-space targets into…

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…

This thesis studies range-based WSN localization problem in 3D environments that induce coplanarity. In most real-world applications, even though the environment is 3D, the grounded sensor nodes are usually deployed on 2D planar surfaces.…

Clustering is an unsupervised technique of Data Mining. It means grouping similar objects together and separating the dissimilar ones. Each object in the data set is assigned a class label in the clustering process using a distance measure.…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…

In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…

Mobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFI propagation maps of the access points are modeled deterministically. However, this procedure does not take into…

Relative localization is a crucial capability for multi-robot systems operating in GPS-denied environments. Existing approaches for multi-robot relative localization often depend on costly or short-range sensors like cameras and LiDARs.…

We introduce and study the Marco Polo problem, which is a combinatorial approach to geometric localization. In this problem, we are told there are one or more points of interest (POIs) within distance $n$ of the origin that we wish to…

Bayesian reinforcement learning (BRL) encodes prior knowledge of the world in a model and represents uncertainty in model parameters by maintaining a probability distribution over them. This paper presents Monte Carlo BRL (MC-BRL), a simple…

As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…

Clustering consists of grouping together samples giving their similar properties. The problem of modeling simultaneously groups of samples and features is known as Co-Clustering. This paper introduces ROCCO - a Robust Continuous…

This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…