Related papers: Future state prediction based on observer for miss…

We consider the problem of safe control in discrete autonomous agents that use learned components for imperfect perception (or more generally, state estimation) from high-dimensional observations. We propose a shield construction that…

The position and the orientation of a rigid body object pushed by a robot on a planar surface are extremely difficult to predict. In this paper, the prediction problem is formulated as a disturbance observer design problem. The disturbance…

Flexible-joint manipulators are frequently used for increased safety during human-robot collaboration and shared workspace tasks. However, joint flexibility significantly reduces the accuracy of motion, especially at high velocities and…

This paper considers the problem of optimal sensor schedules for remote state estimation of discrete-event systems. In this setting, the sensors observe information from the plant and transmit the observable information to the receiver or…

The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…

This paper looks at predictability problems, i.e., wherein an agent must choose its strategy in order to optimize the predictions that an external observer could make. We address these problems while taking into account uncertainties on the…

A hybrid observer is described for estimating the state of an $m>0$ channel, $n$-dimensional, continuous-time, distributed linear system of the form $\dot{x} = Ax,\;y_i = C_ix,\;i\in\{1,2,\ldots, m\}$. The system's state $x$ is…

We propose and study a system whose dynamics are governed by predictions of its future states. General formalism and concrete examples are presented. We find that the dynamical characteristics depend on both how to shape predictions as well…

We study sequential state discrimination measurements performed on the same qubit by subsequent observers. Specifically, we focus on the case when the observers perform a kind of a minimum-error type state discriminating measurement where…

This paper deals with the state estimation of linear time-invariant systems using distributed observers with local sampled-data measurement and aperiodic communication. Each observer agent perceives partial information of the system to be…

This paper discusses a general framework for designing robust state estimators for a class of discrete-time nonlinear systems. We consider systems that may be impacted by impulsive (sparse but otherwise arbitrary) measurement noise…

We consider the sequential experimental design problem in the predict-then-optimize paradigm. In this paradigm, the outputs of the prediction model are used as coefficient vectors in a downstream linear optimization problem. Traditional…

Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…

We investigate the problem of monitoring partially observable systems with nondeterministic and probabilistic dynamics. In such systems, every state may be associated with a risk, e.g., the probability of an imminent crash. During runtime,…

We consider the problem of predictive monitoring (PM), i.e., predicting at runtime future violations of a system from the current state. We work under the most realistic settings where only partial and noisy observations of the state are…

During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…

Accurate tracking of probes is one of the key points of space exploration. Range and Doppler techniques are the most commonly used. In this paper we analyze the impact of the transponder delay, $i.e.$ the processing time between reception…

In this work, we present a novel type of molecular dynamics simulation that aims at discovering, in a blind way, new metastable states. Using only data coming from an initial unbiased simulation, and with the help of an appropriately…

This paper presents a Lyapunov-Halanay method to study global asymptotic stabilization (GAS) of nonlinear retarded systems subject to large constant delays in input/output - a challenging problem due to their inherent destabilizing effects.…

In this paper we consider multitarget tracking with multiple sensors for BMD. In a previous paper multitarget tracking with a single sensor was considered [8]. A ballistic missile may be in several pieces, presenting multiple targets.…