8 citations · 27 across the 45 of their papers we have counts for
12 papers · 1 filter
B-ActiveSEAL: Scalable Uncertainty-Aware Active Exploration with Tightly Coupled Localization-Mapping
Min-Won Seo, Aamodh Suresh, Carlos Nieto-Granda +1
Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncert…
BEASST: Behavioral Entropic Gradient based Adaptive Source Seeking for Mobile Robots
Donipolo Ghimire, Aamodh Suresh, Carlos Nieto-Granda +1
This paper presents BEASST (Behavioral Entropic Gradient-based Adaptive Source Seeking for Mobile Robots), a novel framework for robotic source seeking in complex, unknown environm…
Multi-agent Coverage Control: From Discrete Assignments to Continuous Multi-agent Distribution Matching
Solmaz Kia, Sonia Martinez
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spa…
Sequential Gaussian Variational Inference for Nonlinear State Estimation and Its Application in Robot Navigation
Min-Won Seo, Solmaz S. Kia
Probabilistic state estimation is essential for robots navigating uncertain environments. Accurately and efficiently managing uncertainty in estimated states is key to robust robot…
A Computationally Efficient Maximum A Posteriori Sequence Estimation via Stein Variational Inference
Min-Won Seo, Solmaz S. Kia
State estimation in robotic systems presents significant challenges, particularly due to the prevalence of multimodal posterior distributions in real-world scenarios. One effective…
Bayesian Online Learning for Human-assisted Target Localization
Min-Won Seo, Solmaz S. Kia
We consider a human-assisted autonomy sensor fusion for dynamic target localization in a Bayesian framework. Autonomous sensor-based tracking systems can suffer from observability…
Online Target Localization using Adaptive Belief Propagation in the HMM Framework
Min-Won Seo, Solmaz S. Kia
This paper proposes a novel adaptive sample space-based Viterbi algorithm for target localization in an online manner. The method relies on discretizing the target's motion space i…
Learning-based Measurement Scheduling for Loosely-Coupled Cooperative Localization
Jianan Zhu, Solmaz S. Kia
In cooperative localization, communicating mobile agents use inter-agent relative measurements to improve their dead-reckoning-based global localization. Measurement scheduling ena…
Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions
Qi Yan, Li Jiang, Solmaz Kia
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scena…
Cooperative Localization under Limited Connectivity
Jianan Zhu, Solmaz S. Kia
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained b…
Server assisted distributed cooperative localization over unreliable communication links
Solmaz S. Kia, Jonathan Hechtbauer, David Gogokhiya +1
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel…
Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling
Solmaz S. Kia, Stephen Rounds, Sonia Martinez
We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization str…