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Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
(Massachusetts Institute of Technology, 2012)
This thesis presents a system for automatically building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of ...
Toward lifelong visual localization and mapping
(Massachusetts Institute of Technology, 2013)
Mobile robotic systems operating over long durations require algorithms that are robust and scale efficiently over time as sensor information is continually collected. For mobile robots one of the fundamental problems is ...
Multi-modal and inertial sensor solutions for navigation-type factor graphs
(Massachusetts Institute of Technology, 2017)
This thesis presents a sum-product inference algorithm for in-situ, nonparametric platform navigation called Multi-modal iSAM (incremental smoothing and mapping), for problems of thousands of variables. Our method tracks ...
The development and application of random matrix theory in adaptive signal processing in the sample deficient regime
(Massachusetts Institute of Technology, 2014)
This thesis studies the problems associated with adaptive signal processing in the sample deficient regime using random matrix theory. The scenarios in which the sample deficient regime arises include, among others, the ...
Graphical model driven methods in adaptive system identification
(Massachusetts Institute of Technology, 2016)
Identifying and tracking an unknown linear system from observations of its inputs and outputs is a problem at the heart of many different applications. Due to the complexity and rapid variability of modern systems, there ...
Progressively communicating rich telemetry from autonomous underwater vehicles via relays
(Massachusetts Institute of Technology, 2012)
As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to ...