no code implementations • 5 Jun 2023 • Mostafa Mohammadkarimi, Raj Thilak Rajan
A cooperative Sense and Avoid (SAA) algorithm for safe navigation of small-sized UAVs within an airspace is proposed in this paper.
no code implementations • 25 Dec 2022 • Raj Thilak Rajan
If the underlying noise is homoscedastic in nature, then we prove the \emph{average} reference yields a factor $2$ improvement on the variance, as compared to any arbitrarily chosen reference within the network.
1 code implementation • 31 Oct 2022 • Mosab Diab, Mostafa Mohammadkarimi, Raj Thilak Rajan
First, we propose to improve an existing classical method that replaces the gradient descent optimization of the potential field cost function on a continuous domain with a combinatorial optimization on a set of predefined points (called bacteria points) around the agent's current location.
no code implementations • 14 Jul 2022 • Bichi Zhang, Raj Thilak Rajan
The accurate environment perception of automobiles and UAVs (Unmanned Ariel Vehicles) relies on the precision of onboard sensors, which require reliable in-field calibration.
no code implementations • 12 Jul 2022 • Mostafa Mohammadkarimi, Geert Leus, Raj Thilak Rajan
While the proposed estimator can estimate the range of multiple drones with a single receive antenna, a larger number of drones can be supported with higher accuracy by the use of multiple antennas at the receiver.
no code implementations • 11 Jul 2022 • Calum Spring-Turner, Raj Thilak Rajan
To this end, we study the performance of any unbiased estimator for localisation, by calculating the instantaneous Cram$\acute{\text{e}}$r-Rao bound for two situations; one in which inter-satellite measurements and measurements from ground stations were considered, and one in which only relative navigation from inter-satellite measurements were considered.
no code implementations • 14 Dec 2021 • Anurodh Mishra, Raj Thilak Rajan
In this paper, we propose a time-varying Grammian-based data model for estimating the relative kinematics of mobile nodes with polynomial trajectories, given the time-varying pairwise distance measurements between the nodes.
no code implementations • 12 Oct 2021 • Martijn van der Marel, Raj Thilak Rajan
Formation control (FC) of multi-agent plays a critical role in a wide variety of fields.
no code implementations • 18 Jul 2017 • Anup Das, Paruthi Pradhapan, Willemijn Groenendaal, Prathyusha Adiraju, Raj Thilak Rajan, Francky Catthoor, Siebren Schaafsma, Jeffrey L. Krichmar, Nikil Dutt, Chris Van Hoof
The novelty of our approach lies in (1) encoding spatio-temporal properties of ECG signals directly into spike train and using this to excite recurrently connected spiking neurons in a Liquid State Machine computation model; (2) a novel learning algorithm; and (3) an intelligently designed unsupervised readout based on Fuzzy c-Means clustering of spike responses from a subset of neurons (Liquid states), selected using particle swarm optimization.