Related papers: Local weak observability conditions of sensorless …

Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…

In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…

Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…

In this paper, we review some recent results about the use of dynamic observers for fault diagnosis of discrete event systems. Fault diagnosis consists in synthesizing a diagnoser that observes a given plant and identifies faults in the…

In this paper, we study the structural state and input observability of continuous-time switched linear time-invariant systems and unknown inputs. First, we provide necessary and sufficient conditions for their structural state and input…

Interior permanent magnet synchronous machine drives are widely employed in electric traction systems and various industrial processes. However, prolonged exposure to high temperatures while operating can demagnetize the permanent magnets…

Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…

Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…

We develop a feedback controller that minimizes the observability of a set of adversarial sensors of a linear system, while adhering to strict closed-loop performance constraints. We quantify the effectiveness of adversarial sensors using…

In-vehicle sensing technology has gained tremendous attention due to its ability to support major technological developments, such as connected vehicles and self-driving cars. In-vehicle sensing data are invaluable and important data…

In this paper we address the problems of flux and speed observer design for voltage-fed induction motors with unknown rotor resistance and load torque. The only measured signals are stator current and control voltage. Invoking the recently…

We propose a perception imitation method to simulate results of a certain perception model, and discuss a new heuristic route of autonomous driving simulator without data synthesis. The motivation is that original sensor data is not always…

A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…

Being able to identify service slowdowns is crucial to many operational problems. We study how to use observational congestion data to learn service slowdown in a multi-server system that uses adaptive congestion control mechanisms. We show…

We propose a method for detecting the presence of synchronization of self-sustained oscillator by external driving with linearly varying frequency. The method is based on a continuous wavelet transform of the signals of self-sustained…

The relative degree limitation for adaptive observer-based synchronization schemes is overcome. The scheme is extended to nonpassifiable systems. Two synchronization methods are described and justified based on augmented error adaptive…

In this paper, we study the problem of `test-driving' a detector, i.e. allowing a human user to get a quick sense of how well the detector generalizes to their specific requirement. To this end, we present the first system that estimates…

This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional…

Unmanned ground vehicles have a huge development potential in both civilian and military fields, and have become the focus of research in various countries. In addition, high-precision, high-reliability sensors are significant for UGVs'…

A framework is presented for handling a potential loss of observability of a dynamical system in a provably-safe way. Inspired by the fragility of data-driven perception systems used by autonomous vehicles, we formulate the problem that…