16 citations · 89 across the 50 of their papers we have counts for
7 papers · 1 filter
RFM-SLAM: Exploiting Relative Feature Measurements to Separate Orientation and Position Estimation in SLAM
Saurav Agarwal, Vikram Shree, Suman Chakravorty
The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard li…
Belief Space Planning Simplified: Trajectory-Optimized LQG (T-LQG) (Extended Report)
Mohammadhussein Rafieisakhaei, Suman Chakravorty, P. R. Kumar
Planning under motion and observation uncertainties requires solution of a stochastic control problem in the space of feedback policies. In this paper, we reduce the general (n^2+n…
Non-Gaussian SLAP: Simultaneous Localization and Planning Under Non-Gaussian Uncertainty in Static and Dynamic Environments
Mohammadhussein Rafieisakhaei, Suman Chakravorty, P. R. Kumar
Simultaneous Localization and Planning (SLAP) under process and measurement uncertainties is a challenge. It involves solving a stochastic control problem modeled as a Partially Ob…
Multi-Object Tracking with Multiple Birth, Death, and Spawn Scenarios Using A Randomized Hypothesis Generation Technique (R-FISST)
W. Faber, S. Chakravorty, Islam I. Hussein
In multi-object tracking one may encounter situations were at any time step the number of possible hypotheses is too large to generate exhaustively. These situations generally occu…
Particle Gaussian Mixture (PGM) Filters
Dilshad Raihan Akkam Veettil, Suman Chakravorty
Recursive estimation of nonlinear dynamical systems is an important problem that arises in several engineering applications. Consistent and accurate propagation of uncertainties is…
Multi-Target Tracking Using A Randomized Hypothesis Generation Technique
W. Faber, S. Chakravorty, Islam I. Hussein
In this paper, we present a randomized version of the finite set statistics (FISST) Bayesian recursions for multi-object tracking problems. We propose a hypothesis level derivation…
Decentralized State Estimation via a Hybrid of Consensus and Covariance intersection
Amirhossein Tamjidi, Suman Chakravorty, Dylan Shell
This paper presents a new recursive information consensus filter for decentralized dynamic-state estimation. No structure is assumed about the topology of the network and local est…