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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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09/11/2022
Motion planning in task space with Gromov-Hausdorff approximations
Applications of industrial robotic manipulators such as cobots can requi...
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06/19/2022
Log-GPIS-MOP: A Unified Representation for Mapping, Odometry and Planning
Whereas dedicated scene representations are required for each different ...
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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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03/29/2021
Tuning of extended state observer with neural network-based control performance assessment
The extended state observer (ESO) is an inherent element of robust obser...
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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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10/22/2020
Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces
In this letter, we introduce the Log-Gaussian Process Implicit Surface (...
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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