6 papers
XIT: Exploration and Exploitation Informed Trees for Active Gas Distribution Mapping in Unknown Environments
Mal Fazliu, Matthew Coombes, Sen Wang +1
Mobile robotic gas distribution mapping (GDM) provides critical situational awareness during emergency responses to hazardous gas releases. However, most systems still rely on tele…
Dynamic Correction of Erroneous State Estimates via Diffusion Bayesian Exploration
Yiwei Shi, Hongnan Ma, Mengyue Yang +2
In emergency response and other high-stakes societal applications, early-stage state estimates critically shape downstream outcomes. Yet, these initial state estimates-often based…
Beyond Prior Limits: Addressing Distribution Misalignment in Particle Filtering
Yiwei Shi, Jingyu Hu, Yu Zhang +4
Particle filtering is a Bayesian inference method and a fundamental tool in state estimation for dynamic systems, but its effectiveness is often limited by the constraints of the i…
Belief-Contraction-Driven Active Inverse Source Localization and Characterization
Yiwei Shi, Mengyue Yang, Qi Zhang +3
Active inverse source localization and characterization (ISLC) in dynamic fields requires sequential decision making under partial observability, where a mobile sensor must infer l…
Autonomous Goal Detection and Cessation in Reinforcement Learning: A Case Study on Source Term Estimation
Yiwei Shi, Muning Wen, Qi Zhang +3
Reinforcement Learning has revolutionized decision-making processes in dynamic environments, yet it often struggles with autonomously detecting and achieving goals without clear fe…
Redundant Observer-Based Tracking Control for Object Extraction Using a Cable Connected UAV
Benjamin J. Marshall, Yunda Yan, James Knowles +2
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturb…