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Past, present, and future of simultaneous localization and map**: Toward the robust-perception age
Simultaneous localization and map** (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …
model of the environment (the map), and the estimation of the state of the robot moving …
Distributed map** with privacy and communication constraints: Lightweight algorithms and object-based models
We consider the following problem: a team of robots is deployed in an unknown
environment and it has to collaboratively build a map of the area without a reliable …
environment and it has to collaboratively build a map of the area without a reliable …
A barycentric coordinate based distributed localization algorithm for sensor networks
This paper studies the problem of determining the sensor locations in a large sensor
network using only relative distance (range) measurements. Based on a generalized …
network using only relative distance (range) measurements. Based on a generalized …
Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators
In this paper we consider the cooperative control of the manipulation of a load on a plane by
a team of mobile robots. We propose two different novel solutions. The first is a controller …
a team of mobile robots. We propose two different novel solutions. The first is a controller …
Synchronization problems in computer vision with closed-form solutions
In this paper we survey and put in a common framework several works that have been
developed in different contexts, all dealing with the same abstract problem, called …
developed in different contexts, all dealing with the same abstract problem, called …
Distributed localization for dynamic multiagent systems with randomly varying trajectory lengths
This article considered the persistent real-time localization problem of dynamic multiagent
systems with repetitive running characteristics under directed graph. The trajectory length of …
systems with repetitive running characteristics under directed graph. The trajectory length of …
Distributed trajectory estimation with privacy and communication constraints: a two-stage distributed gauss-seidel approach
We propose a distributed algorithm to estimate the 3D trajectories of multiple cooperative
robots from relative pose measurements. Our approach leverages recent results [1] which …
robots from relative pose measurements. Our approach leverages recent results [1] which …
Decentralized parameter estimation and observation for cooperative mobile manipulation of an unknown load using noisy measurements
In this paper, a distributed approach for the estimation of kinematic and inertial parameters
of an unknown rigid body is presented. The body is manipulated by a pool of ground mobile …
of an unknown rigid body is presented. The body is manipulated by a pool of ground mobile …
Distributed estimation of state and parameters in multiagent cooperative load manipulation
We present two distributed methods for the estimation of the kinematic parameters, the
dynamic parameters, and the kinematic state of an unknown planar body manipulated by a …
dynamic parameters, and the kinematic state of an unknown planar body manipulated by a …
Distributed object pose estimation over strongly connected networks
We propose distributed strategies to estimate the pose, which is defined in the special
Euclidean group SE (3), of a static object observed by a multi-agent system whose …
Euclidean group SE (3), of a static object observed by a multi-agent system whose …