Welcome to the Chair for Intelligent Sensor-Actuator-Systems (ISAS) at the Karlsruhe Institute of Technology

Current Publications

 
Marcus Baum, Peter Willett, Uwe D. Hanebeck,
Polynomial-Time Algorithms for the Exact MMOSPA Estimate of a Multi-Object Probability Density Represented by Particles (to appear)
IEEE Transactions on Signal Processing, 2015.
Author : Marcus Baum, Peter Willett, Uwe D. Hanebeck
Editor :
Title : Polynomial-Time Algorithms for the Exact MMOSPA Estimate of a Multi-Object Probability Density Represented by Particles (to appear)
In : IEEE Transactions on Signal Processing
Address :
Date : 2015
 
Marc Reinhardt, Benjamin Noack, Pablo O. Arambel, Uwe D. Hanebeck,
Minimum Covariance Bounds for the Fusion under Unknown Correlations
IEEE Signal Processing Letters, 22(9):1210 - 1214, September 2015.
PDF URL
Author : Marc Reinhardt, Benjamin Noack, Pablo O. Arambel, Uwe D. Hanebeck
Editor :
Title : Minimum Covariance Bounds for the Fusion under Unknown Correlations
In : IEEE Signal Processing Letters
Address :
Date : September 2015
Abstract
One of the key challenges in distributed linear estimation
is the systematic fusion of estimates. While the fusion gains
that minimize the mean squared error of the fused estimate for
known correlations have been established, no analogous statement
could be obtained so far for unknown correlations. In this contribution,
we derive the gains that minimize the bound on the true covariance
of the fused estimate and prove that Covariance Intersection (CI)
is the optimal bounding algorithm for two estimates under completely
unknown correlations. When combining three or more variables, the
CI equations are not necessarily optimal, as shown by a counterexample.
 
Maxim Dolgov, Jörg Fischer, Uwe D. Hanebeck,
Infinite-Horizon Sequence-based Networked Control without Acknowledgments (to appear)
Proceedings of the 2015 American Control Conference (ACC 2015), Chicago, Illinois, USA, July 2015.
Author : Maxim Dolgov, Jörg Fischer, Uwe D. Hanebeck
Editor :
Title : Infinite-Horizon Sequence-based Networked Control without Acknowledgments (to appear)
In : Proceedings of the 2015 American Control Conference (ACC 2015)
Address : Chicago, Illinois, USA
Date : July 2015
Abstract
In this paper, we consider infinite-horizon networked LQG control over multipurpose networks that do not provide acknowledgments
(UDP-like networks). The information communicated over the networks experiences transmission delays and losses that are modeled as stochastic
processes. In oder to mitigate the delays and losses in the controller-actuator channel, the controller transmits sequences of predicted control inputs
in addition to the current control input. To be able to mitigate delays and losses in the feedback channel, the estimator computes the estimate using
M last measurements. In this scenario, the separation principle does not hold and the optimal control law is in general nonlinear. However, assuming
that the controller and the estimator are linear and possess constant gains, we are able to derive the control law. The presented control law is
evaluated by means of simulations.




CloudRunner

What's New

12/19/14

Marc Reinhardt successfully defended his Ph.D. dissertation Linear Estimation in Interconnected Sensor Systems with Information Constraints. The thesis has been co-examined by Prof. Sanjeev R. Kulkarni, Princeton University, USA.

10/29/14

Current work on telepresence was broadcast on television.

10/10/14

Antonio Zea, Florian Faion, and Uwe D. Hanebeck received the Best Paper Award of the "IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014), Bonn, Germany" for the paper Tracking Extended Objects using Extrusion Random Hypersurface Models. Certificate (PDF)

SDF 2014

07/18/14

During the "Computer Science Day" (Tag der Informatik) the class "Stochastische Informationsverarbeitung (WS 2013/14)" received the award for "best elective class" of the winter term 2013/14. Additionally, the class "Unscharfe Mengen (SS_2013)" and the tutorials of the classes "Lokalisierung mobiler Agenten (SS_2013)" and "Unscharfe Mengen (SS_2013)" received the award for "best elective class" and "best tutorial", respectively, of the summer term 2013.

07/15/14

Jörg Fischer successfully defended his Ph.D. dissertation Optimal Sequence-Based Control of Networked Linear Systems. The thesis has been co-examined by Daniel Quevedo, University of Newcastle, AU Pictures


Related Institutions

Website of the Research Training Group RTG 1194 "Self-organizing Sensor-Actuator-Networks" www.grk1194.kit.edu

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