89 citations · 112 across the 19 of their papers we have counts for
20 papers
Resource-Efficient Distributed Recursive Gaussian Processes
Josephine King, Ali Emre Balci, Raj Thilak Rajan
Gaussian processes (GPs) provide a flexible framework for learning unknown functions from noisy measurements while quantifying predictive uncertainty, making them well suited for e…
Distributed Target Tracking using Radar Networks
Shao-Hsuan Hung, Raj Thilak Rajan
Distributed target tracking is essential for scalable and robust sensing systems, as it enables multiple radar nodes to cooperatively estimate a target state without relying on a c…
Consensus-based Recursive Multi-Output Gaussian Process
Yogesh Prasanna Kumar Rao, Tamas Keviczky, Raj Thilak Rajan
Multi-output Gaussian Processes provide principled uncertainty-aware learning of vector-valued fields but are difficult to deploy in large-scale, distributed, and streaming setting…
Multicluster Design and Control of Large-Scale Affine Formations
Zhonggang Li, Geert Leus, Raj Thilak Rajan
Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms.…
A Covariance Matching Approach to Graph Topology Identification
Yongsheng Han, Raj Thilak Rajan, Geert Leus
Graph topology identification (GTI) is a central challenge in networked systems, where the underlying structure is often hidden, yet nodal data are available. Conventional solution…
Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks
Zhonggang Li, Geert Leus, Raj Thilak Rajan
Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a…
Autonomous Navigation of Quadrupeds Using Coverage Path Planning with Morphological Skeleton Map
Alexander James Becoy, Kseniia Khomenko, Luka Peternel +1
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the…
On the Stability of Consensus Control under Rotational Ambiguities
Zhonggang Li, Changheng Li, Raj Thilak Rajan
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual ag…
Geometry-Aware Edge-State Tracking for Resilient Affine Formation Control
Zhonggang Li, Raj Thilak Rajan
Affine formation control (AFC) is a subset of formation control methods that enables coordinated multiagent movement while preserving affine relationships, and has recently gained…
RAPF: Efficient path planning for lunar microrovers
Thomas Manteaux, David Rodríguez-Martínez, Raj Thilak Rajan
Efficient path planning is key for safe autonomous navigation over complex and unknown terrains. Lunar Zebro (LZ), a project of the Delft University of Technology, aims to deploy a…
GPS-VIO Fusion with Online Rotational Calibration
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +2
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in…
Cooperative Sense and Avoid for UAVs using Secondary Radar
Mostafa Mohammadkarimi, Raj Thilak Rajan
A cooperative Sense and Avoid (SAA) algorithm for safe navigation of small-sized UAVs within an airspace is proposed in this paper. The proposed method relies upon cooperation betw…
On the choice of reference in offset calibration
Raj Thilak Rajan
Sensor calibration is an indispensable task in any networked cyberphysical system. In this paper, we consider a sensor network plagued with offset errors, measuring a rank-1 signal…
Artificial Potential Field-Based Path Planning for Cluttered Environments
Mosab Diab, Mostafa Mohammadkarimi, Raj Thilak Rajan
In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial m…
Performance Bounds for Cooperative Localisation in the Starlink Network
Calum Spring-Turner, Raj Thilak Rajan
Mega-constellations in Low Earth Orbit have the potential to revolutionise worldwide internet access. The concomitant potential of these mega-constellations to impact space sustain…
Multi-FEAT: Multi-Feature Edge Alignment for Targetless Camera-LiDAR Calibration
Bichi Zhang, Holger Caesar, Raj Thilak Rajan
Multi-agent systems, e.g., automobiles and UAVs (Unmanned Ariel Vehicles), rely on the precision of onboard sensors to accurately perceive their environment, which in turn depends…
Joint Ranging and Phase Offset Estimation for Multiple Drones using ADS-B Signatures
Mostafa Mohammadkarimi, Geert Leus, Raj Thilak Rajan
A new method for joint ranging and Phase Offset (PO) estimation of multiple drones/aircrafts is proposed in this paper. The proposed method employs the superimposed uncoordinated A…
Relative Kinematics Estimation Using Accelerometer Measurements
Anurodh Mishra, Raj Thilak Rajan
Given a network of static nodes in -dimensional space and the pairwise distances between them, the challenge of estimating the coordinates of the nodes is a well-studied pro…
Reference-free Calibration in Sensor Networks
Raj Thilak Rajan, Rob-van Schaijk, Anup Das +2
Sensor calibration is one of the fundamental challenges in large-scale IoT networks. In this article, we address the challenge of reference-free calibration of a densely deployed s…
Unsupervised Heart-rate Estimation in Wearables With Liquid States and A Probabilistic Readout
Anup Das, Paruthi Pradhapan, Willemijn Groenendaal +7
Heart-rate estimation is a fundamental feature of modern wearable devices. In this paper we propose a machine intelligent approach for heart-rate estimation from electrocardiogram…