Related papers: Optimal GNSS Time Tracking for Long-term Stable Ti…
In this paper we suggest a method by which reference broadcast synchronization (RBS), and other methods of estimating clock values, can be incorporated in standard clock synchronization algorithms to improve synchronization quality. We…
The angular synchronization problem aims to accurately estimate (up to a constant additive phase) a set of unknown angles $\theta_1, \dots, \theta_n\in[0, 2\pi)$ from $m$ noisy measurements of their offsets $\theta_i-\theta_j \;\mbox{mod}…
Motivated by various distributed control applications, we consider a linear system with Gaussian noise observed by multiple sensors which transmit measurements over a dynamic lossy network. We characterize the stationary optimal sensor…
In this work, we present a study on ways that tracking algorithms can be improved with machine learning (ML). We base this study on the line segment tracking (LST) algorithm that we have designed to be naturally parallelized and vectorized…
A new method for solving optimal tracking control of linear quadratic time-varying systems with multiple time delays in state and input variables and with combined constraints is presented in this paper. By using the relations of Chebyshev…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
This paper proposes Asynchronous Triggered Gradient Tracking, i.e., a distributed optimization algorithm to solve consensus optimization over networks with asynchronous communication. As a building block, we devise the continuous-time…
Clock synchronization is a widely discussed topic in the engineering literature. Ensuring that individual clocks are closely aligned is important in network systems, since the correct timing of various events in a network is usually…
Average consensus theory is intensely popular for building time synchronization in wireless sensor network (WSN). However, the average consensus-based time synchronization algorithm is based on iteration that pose challenges for efficiency,…
Motivated by the Internet-of-things and sensor networks for cyberphysical systems, the problem of dynamic sensor activation for the centralized tracking of an i.i.d. time-varying process is examined. The tradeoff is between energy…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…
Average consensus algorithms can be implemented over wireless sensor networks (WSN), where global statistics can be computed using communications among sensor nodes locally. Simple execution, robustness to global topology changes due to…
The successful miniaturisation of extremely accurate atomic clocks and atom interferometers invites prospects for satellite missions to perform precision experiments. We discuss the effects predicted by general relativity and alternative…
Global Navigation Satellite System (GNSS) provides Positioning, Navigation, and Timing (PNT) services for autonomous vehicles (AVs) using satellites and radio communications. Due to the lack of encryption, open-access of the coarse…
This paper examines synchronization of computer clocks connected via a data network and proposes a skewless algorithm to synchronize them. Unlike existing solutions, which either estimate and compensate the frequency difference (skew) among…
This paper considers the decentralized consensus optimization problem defined over a network where each node holds a second-order differentiable local objective function. Our goal is to minimize the summation of local objective functions…
The ability to measure, hold and distribute time with high precision and accuracy is a foundational capability for scientific exploration. Beyond fundamental science, time synchronization is an indispensable feature of public and private…