Abishek Hariharan

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We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In particular, we do not assume that the robot positions are known, but estimate their positions using relative onboard sensing. Our probabilistic localization and control method takes into account the motion and sensing capabilities of(More)
We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In this setting, robots are required to estimate their positions using relative onboard sensing while concurrently tracking the target. Our probabilistic localization and control method takes into account the motion and sensing(More)
OBJECTIVES Prior studies regarding whether single-center trial estimates are larger than multi-center are equivocal. We examined the extent to which single-center trials yield systematically larger effects than multi-center trials. STUDY DESIGN AND SETTING We searched the 119 core clinical journals and the Cochrane Database of Systematic Reviews for(More)
Using multiple robots to track a moving target is potentially beneficial because of the reduction in tracking uncertainty, increased coverage, and robustness to failure. Two problems arise immediately. First, these objectives are often at odds (e.g., the configuration of the robots that lead to the lowest uncertainty estimates of target pose may not be the(More)
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