Wenjie Lu

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— Unmanned ground and aerial vehicles are becoming crucial to many applications because of their ability to assist humans in carrying out dangerous missions. These vehicles can be viewed as networks of heterogeneous unmanned robotic sensors with the goal of exploring complex environments, to search for and, possibly, pursue moving targets. The robotic(More)
This paper presents a visibility-based method for planning the motion of a mobile robotic sensor with bounded field-of-view to optimally track a moving target while localizing itself. The target and robot states are estimated from online sensor measurements and a set of a priori known landmarks, using an extended Kalman filter (EKF), and thus the proposed(More)
This paper presents an information potential method for integrated path planning and control. The method is applicable to unicycle robotic sensors deployed to classify multiple targets in an obstacle-populated environment. A new navigation function, referred to as information potential, is generated from the target conditional mutual information, and used(More)
Vehicle localization is the primary information needed for advanced tasks like navigation. This information is usually provided by the use of Global Positioning System (GPS) receivers. However, the low accuracy of GPS in urban environments makes it unreliable for further treatments. The combination of GPS data and additional sensors can improve the(More)
— Several approximate dynamic programming (ADP) algorithms have been developed and demonstrated for the model-free control of continuous and discrete dynamical systems. However, their applicability to hybrid systems that involve both discrete and continuous state and control variables has yet to be demonstrated in the literature. This paper presents an ADP(More)
This paper presents a novel information value function that can be used in online sensor planning to monitor a spatial phenomenon in which the spatial phenomenon is modeled by nonparametric Gaussian processes. The information value function is derived from the Kullback-Leibler (KL) divergence and represents the information value brought by sensor decision.(More)
In some virtual reality (VR) systems, OpenGL intercept methods are used to capture and render a desktop application's OpenGL calls within an immersive display. These systems often suffer from lower frame rates due to network bandwidth limitations, implementation of the intercept routine, and in some cases, the intercepted application's frame rate. To(More)
This paper presents a camera control approach for learning unknown nonlinear target dynamics by approximating information value functions using particles that represent targets' position distributions. The target dynamics are described by a non-parametric mixture model that can learn a potentially infinite number of motion patterns. Assuming that each(More)
Fig. 1. Using ML2VR, a MATLAB user transitions from viewing a 3D surface plot on a desktop computer (left) to viewing and interacting with the plot in a virtual reality system (right). ABSTRACT—MATLAB is a popular computational system and programming environment that is used in numerous engineering and science programs in the United States. One feature of(More)