相关论文: Statistical Linear Regression Approach to Kalman F…

Deep Neural Network (DNN) based classifiers have recently been used for the modulation classification of RF signals. These classifiers have shown impressive performance gains relative to conventional methods, however, they are vulnerable to…

Geometry of the state space is known to play a crucial role in many applications of Kalman filters, especially robotics and motion tracking. The Lie group-centric approach is currently very common, although a Riemannian approach has also…

The problem of multisensor multitarget state estimation in the presence of constant but unknown sensor biases is investigated. The classical approach to this problem is to augment the state vector to include the states of all the targets…

State estimation is a fundamental problem in control and signal processing, for which the Kalman Filter provides an optimal solution under linear dynamics, Gaussian noise, and known noise covariances. However, these assumptions often fail…

Nanomechanical resonant sensors are used in mass spectrometry via detection of resonance frequency jumps. There is a fundamental trade-off between detection speed and accuracy. Temporal and size resolution are limited by the resonator…

Research evidence in Cyber-Physical Systems (CPS) shows that the introduced tight coupling of information technology with physical sensing and actuation leads to more vulnerability and security weaknesses. But, the traditional security…

The vast majority of today's critical infrastructure is supported by numerous feedback control loops and an attack on these control loops can have disastrous consequences. This is a major concern since modern control systems are becoming…

We develop a general framework for state estimation in systems modeled with noise-polluted continuous time dynamics and discrete time noisy measurements. Our approach is based on maximum likelihood estimation and employs the calculus of…

Synthetic Aperture Radar (SAR) image understanding is crucial in remote sensing applications, but it is hindered by its intrinsic noise contamination, called speckle. Sophisticated statistical models, such as the $\mathcal{G}^0$ family of…

Data assimilation methods aim at estimating the state of a system by combining observations with a physical model. When sequential data assimilation is considered, the joint distribution of the latent state and the observations is described…

In order to integrate uncertainty estimates into deep time-series modelling, Kalman Filters (KFs) (Kalman et al., 1960) have been integrated with deep learning models, however, such approaches typically rely on approximate inference…

This paper considers the problem of optimal estimation for linear system with the measurement vector subject to arbitrary corruption by an adversarial agent. This problem is relevant to cyber-physical systems where, due to the tight…

The Kalman filter (KF) is an optimal linear state estimator for linear systems, and numerous extensions, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and cubature Kalman filter (CKF), have been developed for…

State-space model (SSM) for time-series forecasting have demonstrated strong empirical performance on benchmark datasets, yet their robustness under adversarial perturbations is poorly understood. We address this gap through a…

Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…

We study the problem of designing false measurement data that is injected to corrupt and mislead the output of a Kalman filter. Unlike existing works that focus on detection and filtering algorithms for the observer, we study the problem…

This paper introduces a novel approach to detect and address faulty or corrupted external sensors in the context of inertial navigation by leveraging a switching Kalman Filter combined with parameter augmentation. Instead of discarding the…

We present a numerically-stable parallel-in-time linear Kalman smoother. The smoother uses a novel highly-parallel QR factorization for a class of structured sparse matrices for state estimation, and an adaptation of the SelInv…

We study the problem of designing false measurement data that is injected to corrupt and mislead the output of a Kalman filter. Unlike existing works that focus on detection and filtering algorithms for the observer, we study the problem…

Adversarially robust training has been shown to reduce the susceptibility of learned models to targeted input data perturbations. However, it has also been observed that such adversarially robust models suffer a degradation in accuracy when…