D. J. Thorne
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View article: Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control
Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control Open
This paper develops a new framework for preventing localization failures in mobile systems that must estimate their state using measurements. Safety is guaranteed by imposing the nonlinear least squares optimization solved in modern locali…
View article: Submodular Optimization for Keyframe Selection & Usage in SLAM
Submodular Optimization for Keyframe Selection & Usage in SLAM Open
Keyframes are LiDAR scans saved for future reference in Simultaneous Localization And Mapping (SLAM), but despite their central importance most algorithms leave choices of which scans to save and how to use them to wasteful heuristics. Thi…
View article: LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features
LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features Open
SLAM is an important capability for many autonomous systems, and modern LiDAR-based methods offer promising performance. However, for long duration missions, existing works that either operate directly the full pointclouds or on extracted …
View article: UNVEILING THE MECHANISTIC INSIGHTS OF ARGININE DEPRIVATION COMBINED WITH RADIOTHERAPY FOR THE TREATMENT OF GLIOBLASTOMA
UNVEILING THE MECHANISTIC INSIGHTS OF ARGININE DEPRIVATION COMBINED WITH RADIOTHERAPY FOR THE TREATMENT OF GLIOBLASTOMA Open
AIMS Glioblastoma is a lethal form of primary brain tumour in adults. Despite surgery, radiation and chemotherapy, life expectancy is short rendering the need for novel therapeutic approaches. Metabolic therapies provide a multifaceted eff…
View article: Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation
Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation Open
Executing time-sensitive multi-robot missions involves two distinct problems: Multi-Robot Task Assignment (MRTA) and Multi-Agent Path Finding (MAPF). Computing safe paths that complete every task and minimize the time to mission completion…
View article: Synthesis and characterization of CuS, CuS/graphene oxide nanocomposite for supercapacitor applications
Synthesis and characterization of CuS, CuS/graphene oxide nanocomposite for supercapacitor applications Open
Supercapacitors or electrochemical capacitors are receiving greater interest because of their high-power density, long life, and low maintenance. We have synthesized CuS nanoparticles and graphene oxide (CuS–GO) nanocomposites for supercap…