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Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation requires computing a prediction horizon…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
This paper presents a method for jointly estimating the state, input, and parameters of linear systems in an online fashion. The method is specially designed for measurements that are corrupted with non-Gaussian noise or outliers, which are…
This paper presents a novel method for estimating the direction of arrival (DOA) for a non-uniform and sparse linear sensor array using the weighted lifted structure low-rank matrix completion. The proposed method uses a single snapshot…
Anomaly detection deals with detecting deviations from established patterns within data. It has various applications like autonomous driving, predictive maintenance, and medical diagnosis. To improve anomaly detection accuracy, transfer…
The requirement of uncertainty quantification for anomaly detection systems has become increasingly important. In this context, effectively controlling Type I error rates ($\alpha$) without compromising the statistical power ($1-\beta$) of…
Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…
Modern control systems frequently operate under input delays and sampled state measurements. A common delay-compensation strategy is predictor feedback; however, practical implementations require solving an implicit ODE online, resulting in…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
Most existing pruning works are resource-intensive, requiring retraining or fine-tuning of the pruned models for accuracy. We propose a retraining-free pruning method based on hyperspherical learning and loss penalty terms. The proposed…
Accurate prediction of model rocket flight performance requires estimating aerodynamic parameters that are difficult to measure directly. Traditional approaches rely on computational fluid dynamics or empirical correlations, while…
Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration…
In this paper, we propose a novel online self-calibration approach for Light Detection and Ranging (LiDAR) and camera sensors. Compared to the previous CNN-based methods that concatenate the feature maps of the RGB image and decalibrated…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Reliable confidence estimates are important for safely deploying vision-based controllers in autonomous racing, where safety predictions must be derived from camera images, yet modern predictors become dangerously overconfident under…
This paper presents a joint calibration scheme for voltage (V) and current (I) probes that helps resolve accurately voltage-current phase differences even when the difference is very close to $90^{\circ}$. The latter has been a major issue…
Projection-based reduced-order models (PROMs) have demonstrated accuracy, reliability, and robustness in approximating high-dimensional, differential equation-based computational models across many applications. For this reason, it has been…
A method of distributed calibration of a probe microscope scanner is suggested which main idea consists in a search for a net of local calibration coefficients (LCCs) in the process of automatic measurement of a standard surface, whereby…
This paper presents using bit error rate (BER) measurements to evaluate operation correctness of traffic (input-output) interfaces in modem of very small aperture terminal (VSAT). Such functional tests are carried out, for example, when…
For a number of tasks, such as 3D reconstruction, robotic interface, autonomous driving, etc., camera calibration is essential. In this study, we present a unique method for predicting intrinsic (principal point offset and focal length) and…