Related papers: Knapsack-based Online Sensor Selection for Vehicle…
The problem of faulty sensor detection is investigated in large sensor networks where the sensor faults are sparse and time-varying, such as those caused by attacks launched by an adversary. Group testing and the Kalman filter are designed…
Sensor systems are constrained by design and finding top sensor channel(s) for a given computational task is an important but hard problem. We define an optimization framework and mathematically formulate the minimum-cost channel selection…
The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…
Efficient traffic signal control (TSC) has been one of the most useful ways for reducing urban road congestion. Key to the challenge of TSC includes 1) the essential of real-time signal decision, 2) the complexity in traffic dynamics, and…
This paper studies the distributed state estimation in sensor network, where $m$ sensors are deployed to infer the $n$-dimensional state of a linear time-invariant (LTI) Gaussian system. By a lossless decomposition of optimal steady-state…
Decision making in advanced driver assistance systems involves in general the estimated trajectories of the surrounding objects. Multiple object tracking refers to the process of estimating in real time these trajectories, leveraging for…
Velocity estimation plays a central role in driverless vehicles, but standard and affordable methods struggle to cope with extreme scenarios like aggressive maneuvers due to the presence of high sideslip. To solve this, autonomous race cars…
This paper studies the distributed state estimation problem for a class of discrete time-varying systems over sensor networks. Firstly, it is shown that a networked Kalman filter with optimal gain parameter is actually a centralized filter,…
Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a…
Besides the traditional data collection by stationary detectors, recent advances in wireless and sensor technologies have promoted new potentials for a vehicle-based data collection and local dissemination of information. By means of…
We consider a joint sensor and controller design problem for linear Gaussian stochastic systems in which a weighted sum of quadratic control cost and the amount of information acquired by the sensor is minimized. This problem formulation is…
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…
The design of online algorithms has tended to focus on algorithms with worst-case guarantees, e.g., bounds on the competitive ratio. However, it is well-known that such algorithms are often overly pessimistic, performing sub-optimally on…
In this paper, we investigate a distributed estimation problem for multi-agent systems with state equality constraints (SEC). First, under a time-based consensus communication protocol, applying a modified projection operator and the…
This paper looks at two problems, minimum constrained input selection and minimum cost constrained input selection for state space structured systems. The input matrix is constrained in the sense that the set of states that each input can…
State estimation in power distribution systems is a key component for increased reliability and optimal system performance. Well understood in transmission systems, state estimation is now an area of active research in distribution…
In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…
This paper presents a novel design methodology for optimal transmission policies at a smart sensor to remotely estimate the state of a stable linear stochastic dynamical system. The sensor makes measurements of the process and forms…
Existing extremum-seeking control (ESC) approaches typically rely on applying repeated perturbations to input parameters and performing measurements of the corresponding performance output. The required separation between the different…
We consider the problem of multiple sensor scheduling for remote state estimation of multiple process over a shared link. In this problem, a set of sensors monitor mutually independent dynamical systems in parallel but only one sensor can…