3 papers
cs.RO2024
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…
cs.RO2024
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…
cs.RO2023
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…