12 citations · 24 across the 8 of their papers we have counts for
8 papers
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…
Exploiting Structure for Optimal Multi-Agent Bayesian Decentralized Estimation
Christopher Funk, Ofer Dagan, Benjamin Noack +1
A key challenge in Bayesian decentralized data fusion is the `rumor propagation' or `double counting' phenomenon, where previously sent data circulates back to its sender. It is of…
Towards Decentralized Heterogeneous Multi-Robot SLAM and Target Tracking
Ofer Dagan, Tycho L. Cinquini, Luke Morrissey +3
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets,…
Nonlinear Heterogeneous Bayesian Decentralized Data Fusion
Ofer Dagan, Tycho L. Cinquini, Nisar R. Ahmed
The factor graph decentralized data fusion (FG-DDF) framework was developed for the analysis and exploitation of conditional independence in {heterogeneous Bayesian decentralized f…
Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems
Ofer Dagan, Nisar R. Ahmed
This paper presents a method for Bayesian multi-robot peer-to-peer data fusion where any pair of autonomous robots hold non-identical, but overlapping parts of a global joint proba…
Factor Graphs for Heterogeneous Bayesian Decentralized Data Fusion
Ofer Dagan, Nisar R. Ahmed
This paper explores the use of factor graphs as an inference and analysis tool for Bayesian peer-to-peer decentralized data fusion. We propose a framework by which agents can each…
Exact and Approximate Heterogeneous Bayesian Decentralized Data Fusion
Ofer Dagan, Nisar R. Ahmed
In Bayesian peer-to-peer decentralized data fusion, the underlying distributions held locally by autonomous agents are frequently assumed to be over the same set of variables (homo…