Indoor Localization with Multi-Rate Extended Kalman Filter: Based on Elisa-3 robot

Localization is one of the most fundamental competencies required by an autonomous robot, providing crucial information about its position for decision-making in indoor environments. In the current literature, an indoor localization system utilizes exteroceptive sensors such as GNSS(Global Navigation Satellite System), a camera, or an ultrasonic...

Geometry-Aware Distributed Kalman Filtering for Affine Formation Control under Observation Losses

Affine formation control of multiagent systems has recently received increasing attention in various applications. The distributed control of these agents, under single integrator dynamics, relies on the observations of relative positions of the neighboring agents, which when unavailable is detrimental to the mission. In this paper, we...

Estimating the occurrence of slow slip events and earthquakes with an ensemble Kalman filter

Our ability to forecast earthquakes and slow slip events is hampered by limited information on the current state of stress on faults. Ensemble data assimilation methods permit estimating the state by combining physics-based models and observations, while considering their uncertainties. We use an ensemble Kalman filter (EnKF) to estimate...

Robust Formation Control against Observation Losses

Distributed formation control has received increasing attention in multiagent systems. Maintaining certain geometry in space is advantageous in many applications such as space interferometry and underwater sensing. At present, there is a variety of distributed solutions for agents to converge to desired formations and track a series of...

Relative Affine Localization for Robust Distributed Formation Control

Multiagent systems have been widely researched and deployed in the industry for their potential to collectively achieve goals by distributing tasks to individual agents [1]–[4]. Formation control, one of the many applications of multiagent systems, aims at steering agents into a stable geometric pattern in space [3], [4]. There has been a...

A dynamic OD prediction approach for urban networks based on automatic number plate recognition data

OD flows provide important information for traffic management and planning. The prediction of dynamic OD matrices gives the possibility to apply anticipatory traffic management measures. In this paper, we propose an OD prediction approach based on the data obtained by Automated Number Plate Recognition (ANPR) cameras. The principal component...

Grey-Box System Identification of a Quadrotor Unmanned Aerial Vehicle