21 citations · 60 across the 14 of their papers we have counts for
16 papers
Decentralised Active Perception in Continuous Action Spaces for the Coordinated Escort Problem
Rhett Hull, Ki Myung Brian Lee, Jennifer Wakulicz +6
We consider the coordinated escort problem, where a decentralised team of supporting robots implicitly assist the mission of higher-value principal robots. The defining challenge i…
Continuous Planning for Inertial-Aided Systems
Mitchell Usayiwevu, Fouad Sukkar, Chanyeol Yoo +2
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localizati…
Informative Planning for Worst-Case Error Minimisation in Sparse Gaussian Process Regression
Jennifer Wakulicz, Ki Myung Brian Lee, Chanyeol Yoo +2
We present a planning framework for minimising the deterministic worst-case error in sparse Gaussian process (GP) regression. We first derive a universal worst-case error bound for…
Field trial on Ocean Estimation for Multi-Vessel Multi-Float-based Active perception
Giovanni D'urso, James Ju Heon Lee, Ki Myung Brian Lee +5
Marine vehicles have been used for various scientific missions where information over features of interest is collected. In order to maximise efficiency in collecting information o…
Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems
Ki Myung Brian Lee, Felix H. Kong, Ricardo Cannizzaro +4
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown envir…
Signal Temporal Logic Synthesis as Probabilistic Inference
Ki Myung Brian Lee, Chanyeol Yoo, Robert Fitch
We reformulate the signal temporal logic (STL) synthesis problem as a maximum a-posteriori (MAP) inference problem. To this end, we introduce the notion of random STL~(RSTL), which…