Related papers: Self-Assessment and Correction of Sensor Synchroni…
To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…
In this paper, we analyze the two-node joint clock synchronization and ranging problem. We focus on the case of nodes that employ time-to-digital converters to determine the range between them precisely. This specific design choice leads to…
Separate constituents of extended systems measure proper-times on different world-lines. Relating and comparing proper-time measurements along any two such world-lines requires that common simultaneity be possible, which in turn implies…
The multi-modal perception methods are thriving in the autonomous driving field due to their better usage of complementary data from different sensors. Such methods depend on calibration and synchronization between sensors to get accurate…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
Data-driven methods enable online assessment of error states in magnetic-array-type current sensors, and long-term measurement stability can be enhanced through further self-error correction. However, when the magnetic-array-type current…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
Accurate state estimation is a fundamental module for various intelligent applications, such as robot navigation, autonomous driving, virtual and augmented reality. Visual and inertial fusion is a popular technology for 6-DOF state…
We propose a new autocorrelation measure for functional time series that we term spherical autocorrelation. It is based on measuring the average angle between lagged pairs of series after having been projected onto the unit sphere. This new…
We study, both analytically and numerically, the dynamics of mechanical oscillators kept in motion by a feedback force, which is generated electronically from a signal produced by the oscillators themselves. This kind of self-sustained…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
The assurance of real-time properties is prone to context variability. Providing such assurance at design time would require to check all the possible context and system variations or to predict which one will be actually used. Both cases…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Conflicting sensor measurements pose a huge problem for the environment representation of an autonomous robot. Therefore, in this paper, we address the self-assessment of an evidential grid map in which data from conflicting LiDAR sensor…
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…
This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to contain a directed spanning tree. We propose an adaptive…
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an…
Nanomechanical resonant sensors that are based on detecting and tracking the resonance frequency deviations due to events of interest are being advocated for a variety of applications. All sensor schemes currently in use are subject to a…
This paper investigates a self adaptation mechanism regarding the rate with which new measurements have to be incorporated in Moving-Horizon state estimation algorithms. This investigation can be viewed as the dual of the one proposed by…