21 citations · 35 across the 13 of their papers we have counts for
14 papers · 1 filter
Homotopic information gain for sparse active target tracking
Jennifer Wakulicz, Ki Myung Brian Lee, Teresa Vidal-Calleja +1
The problem of planning sensing trajectories for a mobile robot to collect observations of a target and predict its future trajectory is known as active target tracking. Enabled by…
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…
Topological Trajectory Prediction with Homotopy Classes
Jennifer Wakulicz, Ki Myung Brian Lee, Teresa Vidal-Calleja +1
Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectori…
Multi-query Robotic Manipulator Task Sequencing with Gromov-Hausdorff Approximations
Fouad Sukkar, Jennifer Wakulicz, Ki Myung Brian Lee +2
Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic…
Log-GPIS-MOP: A Unified Representation for Mapping, Odometry and Planning
Lan Wu, Ki Myung Brian Lee, Cedric Le Gentil +1
Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used dire…
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…
An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems
Ki Myung Brian Lee, Felix H. Kong, Ricardo Cannizzaro +4
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others…
Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements
K. Y. Cadmus To, Felix H. Kong, Ki Myung Brian Lee +3
We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realis…
Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces
Lan Wu, Ki Myung Brian Lee, Liyang Liu +1
In this letter, we introduce the Log-Gaussian Process Implicit Surface (Log-GPIS), a novel continuous and probabilistic mapping representation suitable for surface reconstruction a…
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings +3
Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such posi…
Streamlines for Motion Planning in Underwater Currents
Kwun Yiu Cadmus To, Ki Myung Brian Lee, Chanyeol Yoo +2
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in samplin…