Related papers: Self-Assessment and Correction of Sensor Synchroni…
The subject of this paper is to study conformance checking for timed models, that is, process models that consider both the sequence of events in a process as well as the timestamps at which each event is recorded. Time-aware process mining…
Conformance checking techniques let us find out to what degree a process model and real execution data correspond to each other. In recent years, alignments have proven extremely useful in calculating conformance statistics. Most techniques…
We introduce a new paradigm, $\textit{measure synchronization}$, for synchronizing graphs with measure-valued edges. We formulate this problem as maximization of the cycle-consistency in the space of probability measures over relative…
Odometry forms an important component of many manned and autonomous systems. In the rail industry in particular, having precise and robust odometry is crucial for the correct operation of the Automatic Train Protection systems that ensure…
Runtime verification focuses on analyzing the execution of a given program by a monitor to determine if it is likely to violate its specifications. There is often an impedance mismatch between the assumptions/model of the monitor and that…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
Accurate sensor calibration is crucial for autonomous systems, yet its uncertainty quantification remains underexplored. We present the first approach to integrate uncertainty awareness into online extrinsic calibration, combining Monte…
Validating smartphone sensor-based tests to study gait and balance against reference measurement systems in a laboratory setting poses several technical challenges related to data quality and data processing. One challenge is to guarantee…
We revisit the approach to Byzantine fault-tolerant clock synchronization based on approximate agreement introduced by Lynch and Welch. Our contribution is threefold: (1) We provide a slightly refined variant of the algorithm yielding…
Bearing--only estimation is one of the fundamental and challenging problems in target tracking. As in the case of radar tracking, the presence of offset or position biases can exacerbate the challenges in bearing--only estimation. Modeling…
We propose a method for detecting the presence of synchronization of self-sustained oscillator by external driving with linearly varying frequency. The method is based on a continuous wavelet transform of the signals of self-sustained…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
In this manuscript, we propose a novel optimal Global Navigation Satellite System (GNSS) time tracking algorithm to collectively steer an ensemble consisting of synchronising miniature atomic clocks towards standard GNSS time. The…
We propose a simple method of measuring the autocorrelation function of a spin noise based on multiplication and averaging two digitized signal traces, with one of them being a time-reversed copy of the other. This procedure allows one to…
Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…
Online test-time adaptation addresses the train-test domain gap by adapting the model on unlabeled streaming test inputs before making the final prediction. However, online adaptation for 3D human pose estimation suffers from error…
Distributed fault-tolerance can mask the effect of a limited number of permanent faults, while self-stabilization provides forward recovery after an arbitrary number of transient fault hit the system. FTSS protocols combine the best of both…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…
Clock synchronization is critically important in positioning, navigation and timing systems. While its performance has been intensively studied in a wide range of disciplines, much less is known for the fundamental thermodynamics of clock…