7 papers
Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs
Jiho Lee, Nisar Ahmed, Kyle Hollins Wray +1
Online planning under uncertainty remains a fundamental challenge for robotic systems operating in partially observable environments with high-dimensional state spaces. While sampl…
Unsupervised Detection of Underground Tunnels in Ground-Penetrating Radar Using Depth-Restricted Reconstruction Scoring
Muhammad Junaid, Shoab A. Khan, Nisar Ahmed
Clandestine tunneling beneath oil and gas pipelines enables fuel theft, smuggling, and sabotage, yet conventional monitoring detects damage only after a pipeline has been compromis…
Hybrid Adaptive Kalman Filtering for Data-Efficient Joint Tracking and Classification
Jiho Lee, Nisar R. Ahmed, Rebecca Russell
Kalman filtering performance is highly sensitive to model mismatch and noise covariance tuning. Learning-based approaches address these limitations but typically rely on supervised…
Rao-Blackwellized POMDP Planning
Jiho Lee, Nisar R. Ahmed, Kyle H. Wray +1
Partially Observable Markov Decision Processes (POMDPs) provide a structured framework for decision-making under uncertainty, but their application requires efficient belief update…
Scalable Factor Graph-Based Heterogeneous Bayesian DDF for Dynamic Systems
Ofer Dagan, Tycho L. Cinquini, Nisar R. Ahmed
Heterogeneous Bayesian decentralized data fusion captures the set of problems in which two robots must combine two probability density functions over non-equal, but overlapping set…
Using Surprise Index for Competency Assessment in Autonomous Decision-Making
Akash Ratheesh, Ofer Dagan, Nisar R. Ahmed +1
This paper considers the problem of evaluating an autonomous system's competency in performing a task, particularly when working in dynamic and uncertain environments. The inherent…