Emerging systems such as smart grids or intelligent transportation often require end-user applications to continuously send information external data aggregators performing monitoring control tasks. This can result in an undesirable loss of privacy for the users exchange benefits provided by application. Motivated this trend, paper introduces concerns a system theoretic context, and addresses problem releasing filtered signals that respect user streams. Our approach relies on formal notion...

Emerging systems such as smart grids or intelligent transportation often require end-user applications to continuously send information external data aggregators performing monitoring control tasks. This can result in an undesirable loss of privacy for the users exchange benefits provided by application. Motivated this trend, we introduce concerns a system theoretic context, and address here problem releasing filtered signals that respect input stream.We rely on formal notion introduced...

As intelligent automation and large-scale distributed monitoring control systems become more widespread, concerns are growing about the way these collect make use of privacy-sensitive data obtained from individuals. This tutorial paper gives a perspective on topic privacy preserving analysis, with particular emphasis processing dynamic as well exchanged in networks. Specifically, we consider mechanisms enforcing differential privacy, state-of-the-art definition initially introduced to...

This paper addresses the problem of controlling mobile sensing systems to improve accuracy and efficiency gathering information autonomously. It applies scenarios such as environmental monitoring, search rescue, surveillance reconnaissance, simultaneous localization mapping (SLAM). A multi-sensor active acquisition problem, capturing common characteristics these scenarios, is formulated. The goal design sensor control policies which minimize entropy estimation task, conditioned on future...

We study the traveling salesman problem for a Dubins vehicle. prove that this is NP-hard, and provide lower bounds on approximation ratio achievable by some recently proposed heuristics. also describe new algorithms based heading discretization, evaluate their performance numerically.

Utilizing the capabilities of configurable sensing systems requires addressing difficult information gathering problems. Near-optimal approaches exist for without internal states. However, when it comes to optimizing trajectories mobile sensors solutions are often greedy and rarely provide performance guarantees. Notably, under linear Gaussian assumptions, problem becomes deterministic can be solved off-line. Approaches based on submodularity have been applied by ignoring sensor dynamics...

Motivated by the type of missions currently performed unmanned aerial vehicles, we investigate a discrete dynamic vehicle routing problem with potentially large number targets and vehicles. Each target is modeled as an independent two-state Markov chain, whose state not observed if visited some vehicle. The goal for vehicles to collect rewards obtained when they visit in particular state. This can be seen restless bandits partial information. We compute upper bound on achievable performance...

We consider the problem of optimizing trajectory a mobile sensor with perfect localization whose task is to estimate stochastic, perhaps multidimensional field modeling environment. When estimator Kalman filter, and for certain classes objective functions capturing informativeness paths, optimization deterministic optimal control problem. This estimation arises in many applications besides problem, such as active mapping robots. The main difficulties solving this are computational, since...

While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to limited range and the difficulty fully automating deployment retrieval. In this paper we address these issues by solving problem automated landing a quadcopter on ground vehicle moving at relatively high speed. We present our system architecture, including...

One of the central problems in computer vision is detection semantically important objects and estimation their pose. Most work object has been based on single image processing, its performance limited by occlusions ambiguity appearance geometry. This paper proposes an active approach to which point view a mobile depth camera controlled. When initial static phase identifies interest, several hypotheses are made about class orientation. Then, sequence views, balances amount energy used move...

Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies localizing the source of a noisy signal, which could represent physical quantity interest such as magnetic force, heat, radio or chemical concentration. We develop algorithms specific to two scenarios: one in sensors have precise model signal formation process and is not available. In model-free scenario, team used follow stochastic gradient...

The ability to accurately estimate the position of robotic agents relative one another, in possibly GPS-denied environments, is crucial execute collaborative tasks.Interagent range measurements are available at a low cost, due technologies such as ultra-wideband radio.However, task three-dimensional estimation using multi-agent systems suffers from unobservabilities.This letter presents sufficient condition for observability positions, and satisfies simple framework with only measurements,...

The objective of source seeking problems is to determine the minimum an unknown signal field, which represents a physical quantity interest, such as heat, chemical concentration, or sound. This paper proposes strategy for in noisy field using mobile robot and based on stochastic gradient descent algorithm. Our scheme does not require prior map environment model simple enough be implemented platforms with limited computational power. We discuss asymptotic convergence guarantees algorithm give...

This paper considers deployment problems where a mobile robotic network must optimize its configuration in distributed way order to minimize steady-state cost function that depends on the spatial distribution of certain probabilistic events interest. Moreover, it is assumed event location priori unknown, and can only be progressively inferred from observation actual occurrences. Three classes are discussed detail: coverage control problems, partitioning dynamic vehicle routing problems. In...

We consider algorithms for the curvature-constrained traveling salesman problem, when nonholonomic constraint is described by Dubins' model. indicate a proof of NP-hardness this problem. In case low point densities, i.e., Euclidean distances between points are larger than turning radius vehicle, various heuristics based on Traveling problem expected to perform well. paper we do not put minimum distance. show that any algorithm computes tour vehicle following an ordering optimal TSP cannot...

Cooperation between multiple autonomous vehicles requires inter-vehicle communication, which in many scenarios must be established over an ad-hoc wireless network. This paper proposes optimization-based approach to the deployment of such mobile robotic networks. A primal-dual gradient descent algorithm jointly optimizes steady-state positions robots based on specification a high-level task form potential field, and routes packets through network support communication rates desired for...

Rigorous privacy-preserving mechanisms that can process and analyze dynamic data streams in real time are required to encourage a wider adoption of many large-scale monitoring control systems recording the detailed activities their users, such as intelligent transportation systems, smart grids, or buildings. Motivated by scenarios where signals originate from sensors capturing privacy-sensitive events about individuals several statistics interest need be continuously published time, we...

The primary purpose of this study is to investigate the system modeling a nanoquadcopter as well designing position and trajectory control algorithms, with ultimate goal testing both in simulation on real platform. open source platform named Crazyflie 2.0 was chosen for project. first phase consisted development mathematical model that describes dynamics quadcopter. Secondly, environment created design two different architectures: cascaded PID tracker LQT tracker. Finally, implementation...

The ability to accurately measure signal time-of-flight between ultra-wideband (UWB) wireless communication transceivers, even in multipath environments, makes this technology ideally suited develop ranging-based positioning systems, especially for indoor applications where GPS signals are not available. In recent years, low-cost commercial UWB transceivers have become more easily available and increasingly used custom robot systems. paper, we focus particular on techniques requiring the...

Ultra-Wide Band (UWB) communication systems can be used to design low cost, power efficient and precise navigation for mobile robots, by measuring the Time of Flight (ToF) messages traveling between on-board UWB transceivers infer their locations. Theoretically, decimeter level positioning accuracy or better should achievable, at least in benign propagation environments where Line-of-Sight (LoS) maintained. Yet, practice, even such favorable conditions, one often observes significant...

A set of N independent Gaussian linear time-in variant systems is observed by M sensors whose task to provide a steady-state causal estimate minimizing the mean-square error on system states, subject additional measurement costs. The can switch between instantaneously, and there are resource constraints, for example number that observe given simultaneously. We first derive tractable relaxation problem, which provides bound achievable performance. This be computed solving convex program...

Inspired by successful biological collective decision mechanisms such as honey bees searching for a new colony or the navigation of fish schools, we consider scenario where large number agents engaged in dynamic game have to make choice among finite set different potential target destinations. Each individual both influences and is influenced group's decision, represented mean trajectory all agents. The model can be interpreted stylized version opinion crystallization an election example. In...

While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to limited range and the difficulty fully automating deployment retrieval. In this paper we address these issues by solving problem automated landing a quadcopter on ground vehicle moving at relatively high speed. We present our system architecture, including...