Related papers: Optimal measurement selection algorithm and estima…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
Efficient and accurate state estimation is essential for the optimal management of the future smart grid. However, to meet the requirements of deploying the future grid at a large scale, the state estimation algorithm must be able to…
This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…
This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…
Joint optimization of scheduling and estimation policies is considered for a system with two sensors and two non-collocated estimators. Each sensor produces an independent and identically distributed sequence of random variables, and each…
We study the position estimation of a mechanical oscillator undergoing both detuned parametric amplification and continuous quantum measurement. This model, which can be utilised to produce squeezed states, is applied to a general…
We investigate the design of a remote state estimation system for a self-propelled particle (SPP). Our framework consists of a sensing unit that accesses the full state of the SPP and an estimator that is remotely located from the sensing…
Optimal sensor placement enhances the efficiency of a variety of applications for monitoring dynamical systems. It has been established that deterministic solutions to the sensor placement problem are insufficient due to the many…
State estimation allows to monitor power networks, exploiting field measurements to derive the most likely grid state. In the literature, measurement errors are usually assumed to follow zero-mean Gaussian distributions; however, it has…
State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on…
We consider the problem of performing ranging measurements between a source and multiple receivers efficiently and accurately, as required by distance-based wireless localization systems. To this end, a new multipoint ranging algorithm is…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
State estimation for discrete-time linear systems with quantized measurements is addressed. By exploiting the set-theoretic nature of the information provided by the quantizer, the problem is cast in the set membership estimation setting.…
This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal…
A central challenge in quantum metrology is identifying optimal measurements that saturate the quantum Cramer-Rao bound under realistic constraints, e.g., local measurements. We show that symmetries of the probe state provide a general…
We present an optimal strategy having finite outcomes for estimating a single parameter of the displacement operator on an arbitrary finite dimensional system using a finite number of identical samples. Assuming the uniform {\it a priori}…
Given a single copy of a mixed state of the form \rho=\lambda\rho_1+(1-\lambda)\rho_2, what is the optimal measurement to estimate the parameter \lambda, if \rho_1 and \rho_2 are known? We present a general strategy to obtain the optimal…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…