相关论文: A novel model-based parameters estimation combinin…

Lithium-ion (Li-ion) batteries are ubiquitous in modern energy storage systems, highlighting the critical need to comprehend and optimize their performance. Yet, battery models often exhibit poor parameter identifiability which hinders the…

Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…

This paper considers global optimization with a black-box unknown objective function that can be non-convex and non-differentiable. Such a difficult optimization problem arises in many real-world applications, such as parameter tuning in…

This paper introduces a novel approach to assess model performance for predictive models characterized by an ordinal target variable in order to satisfy the lack of suitable tools in this framework. Our methodological proposal is a new…

The deployment of autonomous navigation systems on ships necessitates accurate motion prediction models tailored to individual vessels. Traditional physics-based models, while grounded in hydrodynamic principles, often fail to account for…

Movements of maritime vessels are inherently complex and challenging to model due to the dynamic and often unpredictable nature of maritime operations. Even within structured maritime environments, such as shipping lanes and port…

Dynamic models describe phenomena across scientific disciplines, yet to make these models useful in application the unknown parameter values of the models must be determined. Discrete-time dynamic models are widely used to model biological…

Modern computer systems are highly configurable, with hundreds of configuration options that interact, resulting in an enormous configuration space. As a result, optimizing performance goals (e.g., latency) in such systems is challenging…

We present MBAPPE, a novel approach to motion planning for autonomous driving combining tree search with a partially-learned model of the environment. Leveraging the inherent explainable exploration and optimization capabilities of the…

This paper is about a real-time model predictive control (MPC) algorithm for a particular class of model based controllers, whose objective consists of a nominal tracking objective and an additional learning objective. Here, the…

In this paper we propose a model-based approach to the design of online optimization algorithms, with the goal of improving the tracking of the solution trajectory (trajectories) w.r.t. state-of-the-art methods. We focus first on quadratic…

Nowadays an accurate modeling of the system to be controlled is essential for reliable autopilot. This paper presents a non-linear model of the autonomous underwater vehicle 'CWolf'. Matrices and the corresponding coefficients generate a…

This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque commands. The MPC parameters, including cost function weights…

Algorithm selection and hyperparameter tuning remain two of the most challenging tasks in machine learning. Automated machine learning (AutoML) seeks to automate these tasks to enable widespread use of machine learning by non-experts. This…

Maximum likelihood estimation (MLE) of latent variable models is often recast as the minimization of a free energy functional over an extended space of parameters and probability distributions. This perspective was recently combined with…

Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the…

Experience in the physical sciences suggests that the only realistic means of understanding complex systems is through the use of mathematical models. Typically, this has come to mean the identification of quantitative models expressed as…

Markerless motion capture using computer vision and human pose estimation (HPE) has the potential to expand access to precise movement analysis. This could greatly benefit rehabilitation by enabling more accurate tracking of outcomes and…

Physical systems are modelled and investigated within simulation software in an increasing range of applications. In reality an investigation of the system is often performed by empirical test scenarios which are related to typical…

Diagnosing the internal state of Li-ion batteries is critical for battery research, operation of real-world systems, and prognostic evaluation of remaining lifetime. By using physics-based models to perform probabilistic parameter…