相关论文: Kalman Filtering Based Flight Management System Mo…

In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…

Unmanned aerial vehicles (UAVs) mobility enables flexible and customized federated learning (FL) at the network edge. However, the underlying uncertainties in the aerial-terrestrial wireless channel may lead to a biased FL model. In…

The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…

Advanced Air Mobility (AAM) is the next generation of air transportation that includes new entrants such as electric vertical takeoff and landing (eVTOL) aircraft, increasingly autonomous flight operations, and small UAS package delivery.…

Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…

In recent years, there has been a growing interest in using networks of Unmanned Aerial Vehicles (UAV) that collectively perform complex tasks for diverse applications. An important challenge in realizing UAV networks is the need for a…

This paper investigates federated multimodal learning (FML) assisted by unmanned aerial vehicles (UAVs) with a focus on minimizing system latency and providing convergence analysis. In this framework, UAVs are distributed throughout the…

This paper addresses aircraft delays, emphasizing their impact on safety and financial losses. To mitigate these issues, an innovative machine learning (ML)-enhanced landing scheduling methodology is proposed, aiming to improve automation…

Quantifying and reducing uncertainty in Earth system model parameterizations is essential to improving their reliability in decision-making. Forward uncertainty propagation is used to derive parameter sensitivity but requires physically…

We develop a method for estimating the instantaneous lift coefficient on a rapidly pitching airfoil that uses a small number of pressure sensors and a measurement of the angle of attack. The approach assimilates four surface pressure…

The extended Kalman filter is perhaps the most standard tool to estimate in real time the state of a dynamical system from noisy measurements of some function of the system, with extensive practical applications (such as position tracking…

Data assimilation provides algorithms for widespread applications in various fields. It is of practical use to deal with a large amount of information in the complex system that is hard to estimate. Weather forecasting is one of the…

Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…

The use of small unmanned aircraft systems (sUAS) for applications in the field of precision agriculture has demonstrated the need to produce temporally consistent imagery to allow for quantitative comparisons. In order for these aerial…

The Derivative-free nonlinear Kalman Filter is proposed for state estimation and fault diagnosis in distributed parameter systems and particularly in dynamical systems described by partial differential equations of the nonlinear wave type.…

In robotics, designing robust algorithms in the face of estimation uncertainty is a challenging task. Indeed, controllers often do not consider the estimation uncertainty and only rely on the most likely estimated state. Consequently,…

Aimed at solving the problem of Attitude and Heading Reference System(AHRS) in the complex and dynamic conditions for small-UAV, An intelligent Singular Value Decomposition Cubature Kalman Filter(SVDCKF) combined with the Variable Adaptive…

Accurate state estimation using low-cost MEMS (Micro Electro- Mechanical Systems) sensors present on Commercial-off-the-shelf (COTS) drones is a challenging problem. Most UAV systems use a combination of a gyroscope, an accelerometer, and a…

Among algorithms used for sensor fusion for attitude estimation in unmanned aerial vehicles, the Extended Kalman Filter (EKF) is the most commonly used for estimation. In this paper, we propose a new version of H2 estimation called extended…

Kalman filtering can provide an optimal estimation of the system state from noisy observation data. This algorithm's performance depends on the accuracy of system modeling and noise statistical characteristics, which are usually challenging…