相关论文: Global Optimal Attitude Estimation using Uncertain…

This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…

The problem of characterising the accuracy of, and disturbance caused by a joint measurement of position and momentum is investigated. In a previous paper the problem was discussed in the context of the unbiased measurements considered by…

A pointing accuracy better than 1"(3sigma) star tracker plays a significant role for the advanced scientific missions. This thesis makes a series of studies on the typical error sources associated with the positioning and calibration…

Surface normal estimation from a single image is an important task in 3D scene understanding. In this paper, we address two limitations shared by the existing methods: the inability to estimate the aleatoric uncertainty and lack of detail…

We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…

In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…

We give a deterministic 2^{O(n)} algorithm for computing an M-ellipsoid of a convex body, matching a known lower bound. This has several interesting consequences including improved deterministic algorithms for volume estimation of convex…

We consider a pointwise tracking optimal control problem for a semilinear elliptic partial differential equation. We derive the existence of optimal solutions and analyze first and, necessary and sufficient, second order optimality…

In this paper we consider regression problems subject to arbitrary noise in the operator or design matrix. This characterization appropriately models many physical phenomena with uncertainty in the regressors. Although the problem has been…

Machine learning classifiers are probabilistic in nature, and thus inevitably involve uncertainty. Predicting the probability of a specific input to be correct is called uncertainty (or confidence) estimation and is crucial for risk…

The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector…

In this paper the application of uncertainty modeling to convolutional neural networks is evaluated. A novel method for adjusting the network's predictions based on uncertainty information is introduced. This allows the network to be either…

This paper presents three novel algorithms for calculating geodesic intersections on an ellipsoid. These algorithms are applied in a case study analyzing real-time transit data in California to assess vehicle position drift. The analysis…

This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an undirected network, we consider a setup where each node…

In this paper, we consider the rectilinear one-center problem on uncertain points in the plane. In this problem, we are given a set $P$ of $n$ (weighted) uncertain points in the plane and each uncertain point has $m$ possible locations each…

This paper addresses the observability analysis and the optimal design of observation parameters in the presence of noisy measurements and parametric uncertainties. The main underlying frameworks are the nonlinear constrained moving horizon…

This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…

Machine learning can significantly improve performance for decision-making under uncertainty across a wide range of domains. However, ensuring robustness guarantees requires well-calibrated uncertainty estimates, which can be difficult to…

We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…

This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…