Related papers: Kalman Filter Aided Federated Koopman Learning
We propose a Neural-Enhanced Distributed Kalman Filter (NDKF) for multi-sensor state estimation in nonlinear systems. Unlike traditional Kalman filters that rely on explicit analytical models and assume centralized fusion, NDKF leverages…
This paper proposes a novel localization framework based on collaborative training or federated learning paradigm, for highly accurate localization of autonomous vehicles. More specifically, we build on the standard approach of KalmanNet, a…
The proliferation of edge devices has dramatically increased the generation of multivariate time-series (MVTS) data, essential for applications from healthcare to smart cities. Such data streams, however, are vulnerable to anomalies that…
The Kalman filter (KF) is used in a variety of applications for computing the posterior distribution of latent states in a state space model. The model requires a linear relationship between states and observations. Extensions to the Kalman…
The traditional Kalman filter (KF) is widely applied in control systems, but it relies heavily on the accuracy of the system model and noise parameters, leading to potential performance degradation when facing inaccuracies. To address this…
This paper investigates the distributed Kalman filter (DKF) for linear systems, with specific attention on measurement fusion, which is a typical way of information sharing and is vital for enhancing stability and improving estimation…
In this article, we propose a new filtering algorithm based in the Koopman operator, showing that a nonlinear filtering problem can be seen as an equivalent problem where the dynamics is infinite dimensional, but linear. Using Extended…
We present the Koopman-Inspired Learned Observations Extended Kalman Filter (KILO-EKF), which combines a standard EKF prediction step with a correction step based on a Koopman-inspired measurement model learned from data. By lifting…
Federated learning (FL) provides a privacy-preserving solution for fine-tuning pre-trained large language models (LLMs) using distributed private datasets, enabling task-specific adaptation while preserving data privacy. However,…
This research paper delves into the Linear Kalman Filter (LKF), highlighting its importance in merging data from multiple sensors. The Kalman Filter is known for its recursive solution to the linear filtering problem in discrete data,…
Recently Koopman operator has become a promising data-driven tool to facilitate real-time control for unknown nonlinear systems. It maps nonlinear systems into equivalent linear systems in embedding space, ready for real-time linear control…
Federated learning (FL) has emerged as a groundbreaking paradigm in machine learning (ML), offering privacy-preserving collaborative model training across diverse datasets. Despite its promise, FL faces significant hurdles in…
The Kalman filter (KF) is an optimal linear state estimator for linear systems, and numerous extensions, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and cubature Kalman filter (CKF), have been developed for…
Federated learning (FL) is a decentralized collaborative machine learning (ML) technique. It provides a solution to the issues of isolated data islands and data privacy leakage in industrial ML practices. One major challenge in FL is…
Federated learning (FL) offers a privacy-preserving framework for distributed machine learning, enabling collaborative model training across diverse clients without centralizing sensitive data. However, statistical heterogeneity,…
The Kalman filter is a fundamental tool for state estimation in dynamical systems. While originally developed for linear Gaussian settings, it has been extended to nonlinear problems through approaches such as the extended and unscented…
Federated Learning (FL) enables the training of Deep Learning models without centrally collecting possibly sensitive raw data. The most used algorithms for FL are parameter-averaging based schemes (e.g., Federated Averaging) that, however,…
Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…
Federated learning, an emerging machine learning paradigm, enables clients to collaboratively train a model without exchanging local data. Clients participating in the training process significantly impact the convergence rate, learning…
The ensemble Kalman filter (EnKF) is an efficient algorithm for many data assimilation problems. In certain circumstances, however, divergence of the EnKF might be spotted. In previous studies, the authors proposed an…