相关论文: $\mathcal{H}_\infty$ Optimal Navigation in the Cis…

This paper develops a co-state based fusion frame work for spacecraft navigation, consistency monitoring, and hazard forecasting. A differential algebraic co-state is introduced as an instantaneous Lagrange multiplier that enforces…

We introduce a robust framework for learning various generalized Hamiltonian dynamics from noisy, sparse phase-space data and in an unsupervised manner based on variational Bayesian inference. Although conservative, dissipative, and…

We consider the problem of learning stabilizable systems governed by nonlinear state equation $h_{t+1}=\phi(h_t,u_t;\theta)+w_t$. Here $\theta$ is the unknown system dynamics, $h_t $ is the state, $u_t$ is the input and $w_t$ is the…

Critical research about camera-and-LiDAR-based semantic object segmentation for autonomous driving significantly benefited from the recent development of deep learning. Specifically, the vision transformer is the novel ground-breaker that…

This paper proposes a equivariant filtering (EqF) framework for the inertial-integrated state estimation problem. As the kinematic system of the inertial-integrated navigation can be naturally modeling on the matrix Lie group $SE_2(3)$, the…

This work provides a data-driven framework that combines coprime factorization with a lifting linearization technique to model the discrepancy between a nonlinear system and its nominal linear approximation using a linear time-invariant…

Incorporating the dynamics knowledge into the model is critical for achieving accurate trajectory prediction while considering the spatial and temporal characteristics of the vessel. However, existing methods rarely consider the underlying…

The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…

Orthogonal time frequency space (OTFS) modulation has emerged as a promising candidate to overcome the performance degradation of orthogonal frequency division multiplexing (OFDM), which are commonly encountered in high-mobility wireless…

A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…

Latent force models, a class of hybrid modeling approaches, integrate physical knowledge of system dynamics with a latent force - an unknown, unmeasurable input modeled as a Gaussian process. In this work, we introduce two optimal state…

High-fidelity modeling of turbulent flows requires capturing complex spatiotemporal dynamics and multi-scale intermittency, posing a fundamental challenge for traditional knowledge-based systems. While deep generative models, such as…

Accurate and interpretable bearing fault classification is critical for ensuring the reliability of rotating machinery, particularly under variable operating conditions where domain shifts can significantly degrade model performance. This…

This paper introduces a novel $\mathcal{H}_{\infty}$-optimal interval observer synthesis for bounded-error/uncertain locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with noisy nonlinear observations.…

For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…

This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer…

State estimation in control and systems engineering traditionally requires extensive manual system identification or data-collection effort. However, transformer-based foundation models in other domains have reduced data requirements by…

The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…