Giorgio Battistelli
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View article: Extended Object Tracking and Classification based on Linear Splines
Extended Object Tracking and Classification based on Linear Splines Open
This paper introduces a framework based on linear splines for 2-dimensional extended object tracking and classification. Unlike state of the art models, linear splines allow to represent extended objects whose contour is an arbitrarily com…
View article: Efficient dual-scale generalized Radon-Fourier transform detector family for long time coherent integration
Efficient dual-scale generalized Radon-Fourier transform detector family for long time coherent integration Open
Long Time Coherent Integration (LTCI) aims to accumulate target energy through long time integration, which is an effective method for the detection of a weak target. However, for a moving target, defocusing can occur due to range migratio…
View article: Multi-Sensor Marginalized Particle Filtering for Dynamic Source Estimation
Multi-Sensor Marginalized Particle Filtering for Dynamic Source Estimation Open
This letter presents a marginalized particle filtering method for localizing, from sparse measurements, a moving source emitting a spatio-temporal field governed by a partial differential equation (PDE). We explicitly consider the full spa…
View article: Underwater Source Localization via Spectral Element Acoustic Field Estimation
Underwater Source Localization via Spectral Element Acoustic Field Estimation Open
Underwater source localization from a passive array of acoustic sensors is a challenging problem, especially in complex environments characterized by multipath and reverberation effects, irregular seabed geometry, and low signal-to-noise r…
View article: Stability of Consensus-Based Distributed Estimation Under Denial of Service
Stability of Consensus-Based Distributed Estimation Under Denial of Service Open
This article aims to study the stability properties of consensus-based distributed state estimation (DSE) in the presence of denial-of-service (DoS) attacks. Specifically, we adopt a model that describes DoS in terms of its average frequen…
View article: Superquadric-based 3D extended object tracking
Superquadric-based 3D extended object tracking Open
This paper proposes a method for tracking 3D extended target based on superquadric models.
View article: Superquadric-based 3D extended object tracking
Superquadric-based 3D extended object tracking Open
This paper proposes a method for tracking 3D extended target based on superquadric models.
View article: Median-based resilient multi-object fusion with application to LMB densities
Median-based resilient multi-object fusion with application to LMB densities Open
This paper deals with multi-object fusion in the presence of misbehaving sensor nodes, for example due to faults or adversarial attacks. In this setting, the main challenge is to identify and then remove messages coming from corrupted node…
View article: Median-based resilient multi-object fusion with application to LMB densities
Median-based resilient multi-object fusion with application to LMB densities Open
This paper deals with multi-object fusion in the presence of misbehaving sensor nodes, for example due to faults or adversarial attacks. In this setting, the main challenge is to identify and then remove messages coming from corrupted node…
View article: Underwater Source Localization via Spectral Element Acoustic Field Estimation
Underwater Source Localization via Spectral Element Acoustic Field Estimation Open
We design a multiple-model state estimator where each filter runs a propagation model with a different source term associated to the hypothesis of the source being positioned in a specific element of the discretized domain. A null hyphotes…
View article: Underwater Source Localization via Spectral Element Acoustic Field Estimation
Underwater Source Localization via Spectral Element Acoustic Field Estimation Open
We design a multiple-model state estimator where each filter runs a propagation model with a different source term associated to the hypothesis of the source being positioned in a specific element of the discretized domain. A null hyphotes…
View article: 5G mmWave Cooperative Positioning and Mapping using Multi-Model PHD Filter and Map Fusion
5G mmWave Cooperative Positioning and Mapping using Multi-Model PHD Filter and Map Fusion Open
5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated …
View article: Distributed joint target detection, tracking and classification via Bernoulli filter
Distributed joint target detection, tracking and classification via Bernoulli filter Open
This paper aims to solve the problem of distributed joint detection, tracking and classification (D‐JDTC) of a target on a peer‐to‐peer sensor network. The target can be present or not, can belong to different classes, and depending on its…
View article: A Variational Bayes Moving Horizon Estimation Adaptive Filter with Guaranteed Stability
A Variational Bayes Moving Horizon Estimation Adaptive Filter with Guaranteed Stability Open
This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To th…
View article: Multi-sensor joint target detection, tracking and classification via Bernoulli filter
Multi-sensor joint target detection, tracking and classification via Bernoulli filter Open
This paper focuses on \textit{joint detection, tracking and classification} (JDTC) of a target via multi-sensor fusion. The target can be present or not, can belong to different classes, and depending on its class can behave according to d…
View article: Principled information fusion for multi-view multi-agent surveillance systems
Principled information fusion for multi-view multi-agent surveillance systems Open
A key objective of multi-agent surveillance systems is to monitor a much larger region than the limited field-of-view (FoV) of any individual agent by successfully exploiting cooperation among multi-view agents. Whenever either a centraliz…
View article: Fusion-Based Multidetection Multitarget Tracking With Random Finite Sets
Fusion-Based Multidetection Multitarget Tracking With Random Finite Sets Open
Multi-detection (MD) systems are characterized by multiple observation modes (OMs) and hence simultaneously produce multiple measurements for each target. The key challenge in exploiting MD systems for multi-target tracking (MTT), compared…
View article: Nonlinear dynamics on networks: deterministic and stochastic approaches
Nonlinear dynamics on networks: deterministic and stochastic approaches Open
Many physical phenomena occurring in nature can be described through complex systems as collective dynamics which emerge at the macroscopic level from the interactions of microscopically constituents. Networks dene the struc- ture of such …
View article: Generating directed networks with prescribed Laplacian spectra
Generating directed networks with prescribed Laplacian spectra Open
Complex real-world phenomena are often modeled as dynamical systems on networks. In many cases of interest, the spectrum of the underlying graph Laplacian sets the system stability and ultimately shapes the matter or information flow. This…
View article: Random-Finite-Set-Based Distributed Multirobot SLAM
Random-Finite-Set-Based Distributed Multirobot SLAM Open
This article addresses fully distributed multirobot (multivehicle) simultaneous localization and mapping (SLAM). More specifically, a multivehicle scenario is considered, wherein a team of vehicles explore the scene of interest in order to…
View article: Distributed multi-view multi-target tracking based on CPHD filtering
Distributed multi-view multi-target tracking based on CPHD filtering Open
This paper addresses distributed multi-target tracking (DMTT) over a network of sensors having different fields-of-view (FoVs). Specifically, a cardinality probability hypothesis density (CPHD) filter is run at each sensor node. Due to the…
View article: Moving horizon estimation: Open problems, theoretical progress, and new application perspectives
Moving horizon estimation: Open problems, theoretical progress, and new application perspectives Open
Summary The special issue presents results of the current research on moving horizon estimation for linear and nonlinear systems. The special issue includes six papers with two main types of contributions, that is, those with new theoretic…
View article: Joint CKF-PHD Filter and Map Fusion for 5G Multi-cell SLAM
Joint CKF-PHD Filter and Map Fusion for 5G Multi-cell SLAM Open
5G is expected to enable simultaneous vehicle localization and environment mapping (SLAM). Furthermore, vehicular networks will be covered with 5G small cells, wherein the map information is collected at each base station (BS) and then fus…
View article: 5G mmWave Cooperative Positioning and Mapping Using Multi-Model PHD Filter and Map Fusion
5G mmWave Cooperative Positioning and Mapping Using Multi-Model PHD Filter and Map Fusion Open
5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated …
View article: Fusion of Labeled RFS Densities With Minimum Information Loss
Fusion of Labeled RFS Densities With Minimum Information Loss Open
This paper addresses fusion of labeled random finite set (LRFS) densities according to the criterion of minimum information loss (MIL). The MIL criterion amounts to minimizing the (weighted) sum of Kullback-Leibler divergences (KLDs) with …
View article: MAP moving horizon estimation for threshold measurements with application to field monitoring
MAP moving horizon estimation for threshold measurements with application to field monitoring Open
Summary This paper deals with state estimation of a spatially distributed system given noisy measurements from pointwise‐in‐time‐and‐space threshold sensors spread over the spatial domain of interest. A maximum a posteriori probability (MA…