相关论文: Observability of Sensorless Electric Drives

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…

The Koopman operator approach to the state estimation problem for nonlinear systems is a promising research area. The main goal of this paper is an attempt to provide a rigorous theoretical framework for this approach. In particular, the…

In this paper we extend the work on \emph{dynamic ob\-servers} for fault diagnosis to timed automata. We study sensor minimization problems with static observers and then address the problem of computing the most permissive dynamic observer…

Detection of surrounding objects and their motion prediction are critical components of a self-driving system. Recently proposed models that jointly address these tasks rely on a number of sensors to achieve state-of-the-art performance.…

Contactless Electrooculography (EOC) using electric charge variation (QVar) sensing has recently emerged as a promising eye-tracking technique for wearable devices. QVar enables low-power and unobtrusive interaction without requiring…

A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…

This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a…

A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

Sensor visibility is crucial for safety-critical applications in automotive, robotics, smart infrastructure and others: In addition to object detection and occupancy mapping, visibility describes where a sensor can potentially measure or is…

This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…

Despite being a foundational concept of modern systems theory, there have been few studies on observability of non-linear stochastic systems under partial observations. In this paper, we introduce a definition of observability for…

One of the main milestones in the study of opto- and electro-mechanical systems is to certify entanglement between a mechanical resonator and an optical or microwave mode of a cavity field. In this work, we show how a suitable time-periodic…

When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…

There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…

In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…

This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system…