相关论文: Sensor Query Schedule and Sensor Noise Covariances…

Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…

This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and…

In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about…

This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…

Joint optimization of scheduling and estimation policies is considered for a system with two sensors and two non-collocated estimators. Each sensor produces an independent and identically distributed sequence of random variables, and each…

Accurate estimation of the human circadian phase plays an important role in personalized health monitoring, but most existing wearable-based approaches operate retrospectively and require full circadian cycle recordings, leading to high…

We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…

This paper considers the problem of optimal sensor schedules for remote state estimation of discrete-event systems. In this setting, the sensors observe information from the plant and transmit the observable information to the receiver or…

Researchers are often interested in examining between-individual differences in within-individual processes. If the process under investigation is tracked for a long time, its trajectory may show a certain degree of nonlinearity, so that…

Noise radars can be understood in terms of a correlation coefficient which characterizes their detection performance. Although most results in the literature are stated in terms of the signal-to-noise ratio (SNR), we show that it is…

Optimal sensor scheduling with applications to networked estimation and control systems is considered. We model sensor measurement and transmission instances using jumps between states of a continuous-time Markov chain. We introduce a cost…

Estimation problems in wireless sensor networks typically involve gathering and processing data from distributed sensors to infer the state of an environment at the fusion center. However, not all measurements contribute significantly to…

Sensors provide a vital source of data that link digital systems with the physical world. However, as sensors age, the relationship between what they measure and what they output changes. This is known as sensor drift and poses a…

This paper considers the problem of sensory data scheduling of multiple processes. There are $n$ independent linear time-invariant processes and a remote estimator monitoring all the processes. Each process is measured by a sensor, which…

We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…

This survey paper focuses on the estimation schemes in molecular communication (MC) systems. The existing studies in estimation schemes can be divided into parameter estimation (e.g., distance, diffusion coefficient, and flow velocity) and…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…

Consider a target moving at a constant velocity on a unit-circumference circle, starting at an arbitrary location. To acquire the target, any region of the circle can be probed to obtain a noisy measurement of the target's presence, where…

In this paper, we consider a remote state estimation problem in the presence of an eavesdropper. A smart sensor takes measurement of a discrete linear time-invariant (LTI) process and sends its local state estimate through a wireless…