Lucas W. Krakow — accepted AI-conference papers

2023

Emergent Cooperative Behavior in Distributed Target Tracking with Unknown Occlusions

Tianqi Li, Lucas W. Krakow, Swaminathan Gopalswamy

IROS 2023poster

Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of robots enables the behavior of pursuing better visibility,…

Cited by 1 Source ↗Scholar ↗

2022

SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking

Tianqi Li, Lucas W. Krakow, Swaminathan Gopalswamy

IROS 2022poster

In target tracking with mobile multi-sensor sys-tems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of the observable sensor dynamics, unobservable target states…

Cited by 6 Source ↗Scholar ↗