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05/03/2023
Decentralised Active Perception in Continuous Action Spaces for the Coordinated Escort Problem
We consider the coordinated escort problem, where a decentralised team o...
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01/24/2023
Topological Trajectory Prediction with Homotopy Classes
Trajectory prediction in a cluttered environment is key to many importan...
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09/12/2022
Continuous Planning for Inertial-Aided Systems
Inertial-aided systems require continuous motion excitation among other ...
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09/11/2022
Motion planning in task space with Gromov-Hausdorff approximations
Applications of industrial robotic manipulators such as cobots can requi...
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03/08/2022
Informative Planning for Worst-Case Error Minimisation in Sparse Gaussian Process Regression
We present a planning framework for minimising the deterministic worst-c...
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06/17/2021
Field trial on Ocean Estimation for Multi-Vessel Multi-Float-based Active perception
Marine vehicles have been used for various scientific missions where inf...
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06/17/2021
Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems
We present the design and implementation of a decentralised, heterogeneo...
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05/13/2021
Signal Temporal Logic Synthesis as Probabilistic Inference
We reformulate the signal temporal logic (STL) synthesis problem as a ma...
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05/13/2021
An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems
Heterogeneous multi-robot systems are advantageous for operations in unk...
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04/09/2021
3D Ensemble-Based Online Oceanic Flow Field Estimation for Underwater Glider Path Planning
Estimating ocean flow fields in 3D is a critical step in enabling the re...
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03/06/2021
Estimation of Spatially Correlated Ocean Currents from Ensemble Forecasts and Online Measurements
We present a method to estimate two-dimensional, time-invariant oceanic ...
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05/14/2020
Distance and Steering Heuristics for Streamline-Based Flow Field Planning
Motion planning for vehicles under the influence of flow fields can bene...
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05/08/2020
Minimally Invasive Social Navigation
Integrating mobile robots into human society involves the fundamental pr...
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05/08/2020
Streamline-Based Control of Underwater Gliders in 3D Environments
Autonomous underwater gliders use buoyancy control to achieve forward pr...
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02/05/2020
Toward Optimal FDM Toolpath Planning with Monte Carlo Tree Search
The most widely used methods for toolpath planning in fused deposition 3...
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09/05/2019
Efficient Optimal Planning in non-FIFO Time-Dependent Flow Fields
We propose an algorithm for solving the time-dependent shortest path pro...
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01/28/2019
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Underwater robots are subject to position drift due to the effect of oce...
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01/28/2019
Streamlines for Motion Planning in Underwater Currents
Motion planning for underwater vehicles must consider the effect of ocea...
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12/28/2017
Multi-Modal Active Perception for Information Gathering in Science Missions
Robotic science missions in remote environments, such as deep ocean and ...
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11/02/2016
Inferring Coupling of Distributed Dynamical Systems via Transfer Entropy
In this work, we are interested in structure learning for a set of spati...
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05/23/2016