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The estimation of non-Gaussian measurement noise models is a significant challenge across various fields. In practical applications, it often faces challenges due to the large number of parameters and high computational complexity. This…
Providing a metric of uncertainty alongside a state estimate is often crucial when tracking a dynamical system. Classic state estimators, such as the Kalman filter (KF), provide a time-dependent uncertainty measure from knowledge of the…
The Kalman filter provides an optimal estimation for a linear system with Gaussian noise. However when the noises are non-Gaussian in nature, its performance deteriorates rapidly. For non-Gaussian noises, maximum correntropy Kalman filter…
Cloud platforms have become essential in rapidly deploying application systems online to serve large numbers of users. Resource estimation and workload forecasting are critical in cloud data centers. Complexity in the cloud provider…
In the previous paper an adaptive filtering based on a reference recursive recipe was developed and tested on a simulated dynamics of a spring, mass, and damper with a weak nonlinear spring. In this paper the above recipe is applied to a…
We study distributed filtering for a class of uncertain systems over corrupted communication channels. We propose a distributed robust Kalman filter with stochastic gains, through which upper bounds of the conditional mean square estimation…
The unscented Kalman filter is a nonlinear estimation algorithm commonly used in navigation applications. The prediction of the mean and covariance matrix is crucial to the stable behavior of the filter. This prediction is done by…
This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…
An observer is an estimator of the state of a dynamical system from noisy sensor measurements. The need for observers is ubiquitous, with applications in fields ranging from engineering to biology to economics. The most widely used observer…
Optimal decision-making under partial observability requires reasoning about the uncertainty of the environment's hidden state. However, most reinforcement learning architectures handle partial observability with sequence models that have…
We consider the problem of recursively reconstructing time sequences of sparse signals (with unknown and time-varying sparsity patterns) from a limited number of linear incoherent measurements with additive noise. The idea of our proposed…
Data assimilation methodologies are designed to incorporate noisy observations of a physical system into an underlying model in order to infer the properties of the state of the system. Filters refer to a class of data assimilation…
In this paper, we discover that the trace of the division of the optimal output estimation error covariance over the noise covariance attained by the Kalman-Bucy filter can be explicitly expressed in terms of the plant dynamics and noise…
In this paper we propose a Kalman filter aided saliency detection model which is based on the conjecture that salient regions are considerably different from our "visual expectation" or they are "visually surprising" in nature. In this…
In this paper, we consider the problem of estimating finite rate of innovation (FRI) signals from noisy measurements, and specifically analyze the interaction between FRI techniques and the underlying sampling methods. We first obtain a…
We consider the problem of estimating a continuous-time Gauss-Markov source process observed through a vector Gaussian channel with an adjustable channel gain matrix. For a given (generally time-varying) channel gain matrix, we provide…
This paper is on learning the Kalman gain by policy optimization method. Firstly, we reformulate the finite-horizon Kalman filter as a policy optimization problem of the dual system. Secondly, we obtain the global linear convergence of…
In this paper, we focus on batch state estimation for linear systems. This problem is important in applications such as environmental field estimation, robotic navigation, and target tracking. Its difficulty lies on that limited operational…
Estimating parameters of a diffusion process given continuous-time observations of the process via maximum likelihood approaches or, online, via stochastic gradient descent or Kalman filter formulations constitutes a well-established…
In this paper we revisit a non-linear filter for {\em non-Gaussian} noises that was introduced in [1]. Goggin proved that transforming the observations by the score function and then applying the Kalman Filter (KF) to the transformed…