12 papers
A Computationally Efficient Maximum A Posteriori Sequence Estimation via Stein Variational Inference
Min-Won Seo, Solmaz S. Kia
State estimation in robotic systems presents significant challenges, particularly due to the prevalence of multimodal posterior distributions in real-world scenarios. One effective…
B-ActiveSEAL: Scalable Uncertainty-Aware Active Exploration with Tightly Coupled Localization-Mapping
Min-Won Seo, Aamodh Suresh, Carlos Nieto-Granda +1
Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncert…
BEASST: Behavioral Entropic Gradient based Adaptive Source Seeking for Mobile Robots
Donipolo Ghimire, Aamodh Suresh, Carlos Nieto-Granda +1
This paper presents BEASST (Behavioral Entropic Gradient-based Adaptive Source Seeking for Mobile Robots), a novel framework for robotic source seeking in complex, unknown environm…
Microgrids optimal radial reconfiguration via FORWARD algorithm
Joan Vendrell Gallart, Russell Bent, Solmaz Kia
Microgrids offer a promising paradigm for integrating distributed energy resources, bolstering energy resilience, and reducing the impact of blackouts. However, their inherent dece…
FORWARD: A Feasible Radial Reconfiguration Algorithm for Multi-Source Distribution Networks
Joan Vendrell Gallart, Russell Bent, Solmaz Kia
This paper considers an optimal radial reconfiguration problem in multi-source distribution networks, where the goal is to find a radial configuration that minimizes quadratic dist…
ResQue Greedy: Rewiring Sequential Greedy for Improved Submodular Maximization
Joan Vendrell Gallart, Alan Kuhnle, Solmaz Kia
This paper introduces Rewired Sequential Greedy (ResQue Greedy), an enhanced approach for submodular maximization under cardinality constraints. By integrating a novel set curvatur…