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Deterministic Initialization of Metric State Estimation Filters for Loosely-Coupled Monocular Vision-Inertial Systems
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011Conference Paper -
Monitoring usage-control policies in distributed systems
(2011)18th International Symposium on Temporal Representation and Reasoning (TIME) 2011 : 12-14 September 2011, Lübeck, GermanyWe have previously presented a monitoring algorithm for compliance checking of policies formalized in an expressive metric first-order temporal logic. We explain here the steps required to go from the original algorithm to a working infrastructure capable of monitoring an existing distributed application producing millions of log entries per day. The main challenge is to correctly and efficiently monitor the trace interleavings obtained ...Conference Paper -
Multi-Robot System for Artistic Pattern Formation
(2011)2011 IEEE International Conference on Robotics and Automation : (ICRA 2011) ; Shanghai, China, 9 - 13 May 2011Conference Paper -
Real-Time Principal Component Pursuit
(2011)2011 Conference Record of the Forty Fifth Asilomar Conference on Signals, Systems and Computers (ASILOMAR)Robust principal component analysis (RPCA) deals with the decomposition of a matrix into a low-rank matrix and a sparse matrix. Such a decomposition finds, for example, applications in video surveillance or face recognition. One effective way to solve RPCA problems is to use a convex optimization method known as principal component pursuit (PCP). The corresponding algorithms have, however, prohibitive computational complexity for certain ...Conference Paper -
Recovery Guarantees for Restoration and Separation of Approximately Sparse Signals
(2011)2011 49th Annual Allerton Conference on Communication, Control, and Computing (Allerton)In this paper, we present performance guarantees for the recovery and separation of signals that are approximately sparse in some general (i.e., basis, frame, over-complete, or incomplete) dictionary but corrupted by a combination of measurement noise and interference that is sparse in a second general dictionary. Applications covered by this framework include the restoration of signals impaired by impulse noise, narrowband interference, ...Conference Paper -
Acoustic signal discrimination in prestressed concrete elements based on statistical criteria
(2011)Conference Paper -
Tracking a Depth Camera
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011Conference Paper -
A Monocular Vision-based System for 6D Relative Robot Localization
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011Conference Paper -
Modeling and Decoupling Control of the CoaX Micro Helicopter
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011Conference Paper -
DisCoverage for non-convex environments with arbitrary obstacles
(2011)2011 IEEE International Conference on Robotics and Automation : (ICRA 2011) ; Shanghai, China, 9 - 13 May 2011Conference Paper