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Tsang-Kai Chang - IEEE Xplore Author Profile
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Tsang-Kai Chang

Publications
5
Citations
49
Publications by Year
20182022
Co-Authors:
Image of author Tsang-Kai Chang

Tsang-Kai Chang

Affiliation

Electrical and Computer Engineering Department
University of California Los Angeles
Los Angeles, CA, USA

Publication Topics

Biography

Tsang-Kai Chang received the B.S. degree in electrical engineering and the M.S. degree in communication engineering from National Taiwan University, Taipei, Taiwan, in 2012 and 2014, respectively. He is currently working toward the Ph.D. degree in robotics with the University of California Los Angeles, Los Angeles, CA, USA.,He and Kenny Chen were the finalists of the Qualcomm Innovation Fellowship in 2020. His research interests include state estimation, parameter inference, and reinforcement learning in single and multirobot systems.(Based on document published on 8 September 2021).
Publications
5
Citations
49
Publications by Year
20182022
Co-Authors:
Author's Published Works

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BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend

Tsang-Kai Chang;Alexandra Pogue;Ankur Mehta

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
In this paper we present BOEM-SLAM, a backend for visual-inertial SLAM systems capable of creating a globally consistent trajectory and map without retaining the entire history of data. By leveraging the hidden Markov model structure, BOEM-SLAM can summarize historical data into sufficient statistics and then discard it. As a data-efficient algorithm, BOEM-SLAM addresses the growing computational ...Show More

BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend

Tsang-Kai Chang;Alexandra Pogue;Ankur Mehta

Year: 2022 | Conference Paper |

Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection

Tsang-Kai Chang;Kenny Chen;Ankur Mehta

IEEE Transactions on Robotics
Year: 2022 | Volume: 38, Issue: 1 | Journal Article |
Cited by: Papers (28)
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple interrobot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To enhance the resilience of multirobot cooperative localization algorithms in a distributed system, we use covariance intersection to formalize a localization alg...Show More

Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection

Tsang-Kai Chang;Kenny Chen;Ankur Mehta

Year: 2022 | Volume: 38, Issue: 1 | Journal Article |

Kullback-Leibler Average of von Mises Distributions in Multi-Agent Systems

Cody Fan;Tsang-Kai Chang;Ankur Mehta

2020 59th IEEE Conference on Decision and Control (CDC)
Year: 2020 | Conference Paper |
We derive the Kullback-Leibler average of von Mises distributions to fuse circular informations in multi-agent systems. Similar to the covariance intersection for Gaussian distributions, the derived fusion protocol does not require the independence among incoming distributions but maintains the estimation consistency, if those von Mises distributions represent estimates. Therefore, this fusion pro...Show More

Kullback-Leibler Average of von Mises Distributions in Multi-Agent Systems

Cody Fan;Tsang-Kai Chang;Ankur Mehta

Year: 2020 | Conference Paper |

Control-Theoretical and Topological Analysis of Covariance Intersection Based Distributed Kalman Filter

Tsang-Kai Chang;Ankur Mehta

IEEE Control Systems Letters
Year: 2018 | Volume: 2, Issue: 4 | Journal Article |
Cited by: Papers (10)
Covariance intersection (CI) extends Kalman filter (KF) in distributed estimation, since it can fuse Gaussian estimates in the absence of the estimates' correlations. However, even with the preliminary success on the integration of CI and KF, existing discussion limited in global behavior is unable to directly deal with a system with a mixture of unbounded-covariance and bounded-covariance agents....Show More

Control-Theoretical and Topological Analysis of Covariance Intersection Based Distributed Kalman Filter

Tsang-Kai Chang;Ankur Mehta

Year: 2018 | Volume: 2, Issue: 4 | Journal Article |

Optimal Scheduling for Resource-Constrained Multirobot Cooperative Localization

Tsang-Kai Chang;Ankur Mehta

IEEE Robotics and Automation Letters
Year: 2018 | Volume: 3, Issue: 3 | Journal Article |
Cited by: Papers (11)
Typically, localization algorithms focus on maximizing estimation accuracy, often while neglecting some of the realworld costs of achieving such performance. In this letter, we formulate optimal scheduling problems of multirobot localization to investigate the tradeoff between estimate accuracy and its corresponding cost. We derive the continuous-time approximation to explicitly represent the rate...Show More

Optimal Scheduling for Resource-Constrained Multirobot Cooperative Localization

Tsang-Kai Chang;Ankur Mehta

Year: 2018 | Volume: 3, Issue: 3 | Journal Article |

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