75 citations · 151 across the 28 of their papers we have counts for
4 papers · 1 filter
Probabilistic Semantic Data Association for Collaborative Human-Robot Sensing
Shohei Wakayama, Nisar Ahmed
Humans cannot always be treated as oracles for collaborative sensing. Robots thus need to maintain beliefs over unknown world states when receiving semantic data from humans, as we…
Time Dependence in Kalman Filter Tuning
Zhaozhong Chen, Christoffer Heckman, Simon Julier +1
In this paper, we propose an approach to address the problems with ambiguity in tuning the process and observation noises for a discrete-time linear Kalman filter. Conventional app…
Factor Graphs for Heterogeneous Bayesian Decentralized Data Fusion
Ofer Dagan, Nisar R. Ahmed
This paper explores the use of factor graphs as an inference and analysis tool for Bayesian peer-to-peer decentralized data fusion. We propose a framework by which agents can each…
Exact and Approximate Heterogeneous Bayesian Decentralized Data Fusion
Ofer Dagan, Nisar R. Ahmed
In Bayesian peer-to-peer decentralized data fusion, the underlying distributions held locally by autonomous agents are frequently assumed to be over the same set of variables (homo…