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This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
We consider the problem of fitting a parametric model to time-series data that are afflicted by correlated noise. The noise is represented by a sum of two stationary Gaussian processes: one that is uncorrelated in time, and another that has…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
Recently there has been much interest in graph-based learning, with applications in collaborative filtering for recommender networks, link prediction for social networks and fraud detection. These networks can consist of millions of…
In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…
In this paper we present applications of methods from wavelet analysis to polynomial approximations for a number of accelerator physics problems. According to variational approach in the general case we have the solution as a…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
Estimation of temporospatial clinical features of gait (CFs), such as step count and length, step duration, step frequency, gait speed, and distance traveled, is an important component of community-based mobility evaluation using wearable…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
We address the difficult question of inferring plausible node mobility based only on information from wireless contact traces. Working with mobility information allows richer protocol simulations, particularly in dense networks, but…
In this paper, we propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures via a new deformation estimation…
We study the problem of recovering the relative positions of objects moving along the real line based only on pairwise collision data. While interaction-based sensing systems arise naturally in a variety of practical settings, a systematic…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with Inertial Measurement Units (IMUs), assuming the availability…
Monitoring athlete internal workload exposure, including prevention of catastrophic non-contact knee injuries, relies on the existence of a custom early-warning detection system. This system must be able to estimate accurate, reliable, and…
To quantify the fundamental evolution of time-varying networks, and detect abnormal behavior, one needs a notion of temporal difference that captures significant organizational changes between two successive instants. In this work, we…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
Walking is a key movement of interest in biomechanics, yet gold-standard data collection methods are time- and cost-expensive. This paper presents a real-time, multimodal, high sample rate lower-limb motion capture framework, based on…
We present a stepwise approach to estimate high dimensional Gaussian graphical models. We exploit the relation between the partial correlation coefficients and the distribution of the prediction errors, and parametrize the model in terms of…