Related papers: Local weak observability conditions of sensorless …

Motivated by the increasing need to monitor safety-critical systems subject to uncertainties, a novel set-membership approach is proposed to estimate the state of a dynamical system with unknown-but-bounded exogenous inputs. The proposed…

In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR and sonars) with different geometric features (points,…

Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can be applied only when a convenient model of the plant or…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…

We study the problem of tracking an object moving through a network of wireless sensors. In order to conserve energy, the sensors may be put into a sleep mode with a timer that determines their sleep duration. It is assumed that an asleep…

Ensuring safe autonomous driving in the presence of occlusions poses a significant challenge in its policy design. While existing model-driven control techniques based on set invariance can handle visible risks, occlusions create latent…

This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…

Efficient traffic signal control is essential for managing urban transportation, minimizing congestion, and improving safety and sustainability. Reinforcement Learning (RL) has emerged as a promising approach to enhancing adaptive traffic…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…

This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…

Detection of surrounding objects and their motion prediction are critical components of a self-driving system. Recently proposed models that jointly address these tasks rely on a number of sensors to achieve state-of-the-art performance.…

Road attributes understanding is extensively researched to support vehicle's action for autonomous driving, whereas current works mainly focus on urban road nets and rely much on traffic signs. This paper generalizes the same issue to the…

The mathematical modeling of open-switch faults in two-level machine-side converters and the fault-tolerant current control of isotropic permanent-magnet synchronous generators are discussed. The proposed converter model is generic for any…

We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of…