20 citations · 52 across the 15 of their papers we have counts for
16 papers
Asynchronous Blob Tracker for Event Cameras
Ziwei Wang, Timothy Molloy, Pieter van Goor +1
Event-based cameras are popular for tracking fast-moving objects due to their high temporal resolution, low latency, and high dynamic range. In this paper, we propose a novel algor…
Regret Analysis of Online LQR Control via Trajectory Prediction and Tracking: Extended Version
Yitian Chen, Timothy L. Molloy, Tyler Summers +1
In this paper, we propose and analyze a new method for online linear quadratic regulator (LQR) control with a priori unknown time-varying cost matrices. The cost matrices are revea…
Minimum-Time Escape from a Circular Region for a Dubins Car
Timothy L. Molloy, Iman Shames
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space…
Entropy-Regularized Partially Observed Markov Decision Processes
Timothy L. Molloy, Girish N. Nair
We investigate partially observed Markov decision processes (POMDPs) with cost functions regularized by entropy terms describing state, observation, and control uncertainty. Standa…
Smoother Entropy for Active State Trajectory Estimation and Obfuscation in POMDPs
Timothy L. Molloy, Girish N. Nair
We study the problem of controlling a partially observed Markov decision process (POMDP) to either aid or hinder the estimation of its state trajectory. We encode the estimation ob…
Active Trajectory Estimation for Partially Observed Markov Decision Processes via Conditional Entropy
Timothy L. Molloy, Girish N. Nair
In this paper, we consider the problem of controlling a partially observed Markov decision process (POMDP) in order to actively estimate its state trajectory over a fixed horizon w…
Smoothing-Averse Control: Covertness and Privacy from Smoothers
Timothy L. Molloy, Girish N. Nair
In this paper we investigate the problem of controlling a partially observed stochastic dynamical system such that its state is difficult to infer using a (fixed-interval) Bayesian…
Intelligent Reference Curation for Visual Place Recognition via Bayesian Selective Fusion
Timothy L. Molloy, Tobias Fischer, Michael Milford +1
A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting co…
Exactly Optimal Bayesian Quickest Change Detection for Hidden Markov Models
Jason J. Ford, Jasmin James, Timothy L. Molloy
This paper considers the quickest detection problem for hidden Markov models (HMMs) in a Bayesian setting. We construct an augmented HMM representation of the problem that allows t…
Online Inverse Optimal Control for Control-Constrained Discrete-Time Systems on Finite and Infinite Horizons
Timothy L. Molloy, Jason J. Ford, Tristan Perez
In this paper, we consider the problem of computing parameters of an objective function for a discrete-time optimal control problem from state and control trajectories with active…
Misspecified and Asymptotically Minimax Robust Quickest Change Diagnosis
Timothy L. Molloy
The problem of quickly diagnosing an unknown change in a stochastic process is studied. We establish novel bounds on the performance of misspecified diagnosis algorithms designed f…
An Optimal Bearing-Only-Information Strategy for Unmanned Aircraft Collision Avoidance
Timothy L. Molloy, Tristan Perez, Brendan P. Williams
This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft…
Below Horizon Aircraft Detection Using Deep Learning for Vision-Based Sense and Avoid
Jasmin James, Jason J. Ford, Timothy L. Molloy
Commercial operation of unmanned aerial vehicles (UAVs) would benefit from an onboard ability to sense and avoid (SAA) potential mid-air collision threats. In this paper we present…
On the Informativeness of Measurements in Shiryaev's Bayesian Quickest Change Detection
Jason J. Ford, Jasmin James, Timothy L. Molloy
This paper provides the first description of a weak practical super-martingale phenomenon that can emerge in the test statistic in Shiryaev's Bayesian quickest change detection (QC…
A Novel Technique for Rejecting Non-Aircraft Artefacts in Above Horizon Vision-Based Aircraft Detection
Jasmin James, Jason J. Ford, Timothy L. Molloy
Unmanned aerial vehicle (UAV) operations are steadily expanding into many important applications. A key technology for better enabling their commercial use is an onboard sense and…
Quickest Detection of Intermittent Signals With Application to Vision Based Aircraft Detection
Jasmin James, Jason J. Ford, Timothy L. Molloy
In this paper we consider the problem of quickly detecting changes in an intermittent signal that can (repeatedly) switch between a normal and an anomalous state. We pose this inte…