相关论文: Online wheel speed filtering for periodic disturba…
Novel experimental modalities acquire spatially resolved velocity measurements for steady state and transient flows which are of interest for engineering and biological applications. One of the drawbacks of such high resolution velocity…
Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…
Wet weather makes water film over the road and that film causes lower friction between tire and road surface. When a vehicle passes the low-friction road, the accident can occur up to 35% higher frequency than a normal condition road. In…
The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian…
Physics-informed deep learning is a popular trend in the modeling and control of dynamical systems. This paper presents a novel method for rapid online identification of vehicle cornering stiffness coefficient, a crucial parameter in…
Although there exist very accurate hardware systems for measuring traffic on the internet, their widespread use for analysis tasks is limited by their high cost. On the other hand, less expensive, software-based systems exist that are…
We develop an online gradient algorithm for optimizing the performance of product-form networks through online adjustment of control parameters. The use of standard algorithms for finding optimal parameter settings is hampered by the…
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using sensors. The accuracy of such a procedure is dictated by…
Modeling an unknown dynamical system is crucial in order to predict the future behavior of the system. A standard approach is training recurrent models on measurement data. While these models typically provide exact short-term predictions,…
Whisking is a rhythmic and adaptive behavior that rodents use to probe and interact with their environment, and the frequency of movement reflects both sensorimotor processing and internal brain states. A robust and traditional method of…
This paper addresses the detection of periodic transients in vibration signals for detecting faults in rotating machines. For this purpose, we present a method to estimate periodic-group-sparse signals in noise. The method is based on the…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
In an oscillatory medium, a region which oscillates faster than its surroundings can act as a source of outgoing waves. Such pacemaker-generated waves can synchronize the whole medium and are present in many chemical and biological systems,…
The ability to predict traffic flow over time for crowded areas during rush hours is increasingly important as it can help authorities make informed decisions for congestion mitigation or scheduling of infrastructure development in an area.…
High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccurate timestamping can be compensated for in post-processing…
The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…
Traffic flow oscillations, including traffic waves, are a common yet incompletely understood feature of congested traffic. Possible mechanisms include traffic flow instabilities, indifference regions or finite human perception thresholds…
Autonomous camera systems are often subjected to an optimization/filtering operation to smoothen and stabilize the rough trajectory estimates. Most common filtering techniques do reduce the irregularities in data; however, they fail to…
Vehicle speed monitoring and management of highways is the critical problem of the road in this modern age of growing technology and population. A poor management results in frequent traffic jam, traffic rules violation and fatal road…
Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external…