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Physically constrained maximum likelihood method for snapshot deficient adaptive array processing
(Massachusetts Institute of Technology, 2003)
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 ...
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 ...
Statistical models and decision making for robotic scientific information gathering
(Massachusetts Institute of Technology, 2018)
Mobile robots and autonomous sensors have seen increasing use in scientific applications, from planetary rovers surveying for signs of life on Mars, to environmental buoys measuring and logging oceanographic conditions in ...