Vibhor L. Bageshwar

TL;DR: The success of the MPC spacing-control laws is shown to depend on whether collision avoidance and the acceleration limits of the ACC vehicle are explicitly incorporated into the formulation of the control algorithm.

Abstract: Stochastic observability refers to the existence of a filter for which the errors of the estimated state mean vector have bounded variance. In this paper, we derive a test to assess the stochastic observability of a Kalman filter implemented for discrete linear time-varying stochastic systems. This test is derived with the assumptions that the system matrices consist of known deterministic parameters and that there is complete uncertainty in the statistics of the initial state vector. This test can also be used to assess the stochastic observability of extended Kalman filters implemented for nonlinear stochastic systems linearized about the true state vector trajectory. We illustrate the utility of the stochastic observability test using an aided inertial navigation system. We also provide a counterexample to illustrate that observability is a necessary, but not sufficient, condition for the stochastic observability of a Kalman filter implemented for a system.

TL;DR: In this article, an autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality is provided to estimate the position of the landmarks in a global frame and in the autonomous vehicle's frame.

TL;DR: In this paper, a health management system is configured to compare the first set of kinematic state vectors and the second set of state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

TL;DR: In this article, an inertial measurement unit comprising one or more gyroscopes configured to measure angular velocity about a respective one of three independent axes and one or multiple accelerometers configured to quantify specific force along a respective axis along each one of the three independent axis is used to measure strength of local magnetic field along each axis.