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Robust estimation using context-aware filtering

dc.contributor.author Ivanov, R
dc.contributor.author Atanasov, N
dc.contributor.author Pajic, M
dc.contributor.author Pappas, G.J.
dc.contributor.author Lee, I
dc.date.accessioned 2015-12-29T03:17:24Z
dc.date.issued 2016-04-04
dc.identifier.isbn 9781509018239
dc.identifier.uri https://hdl.handle.net/10161/11288
dc.description.abstract © 2015 IEEE.This paper presents the context-aware filter, an estimation technique that incorporates context measurements, in addition to the regular continuous measurements. Context measurements provide binary information about the system's context which is not directly encoded in the state; examples include a robot detecting a nearby building using image processing or a medical device alarming that a vital sign has exceeded a predefined threshold. These measurements can only be received from certain states and can therefore be modeled as a function of the system's current state. We focus on two classes of functions describing the probability of context detection given the current state; these functions capture a wide variety of detections that may occur in practice. We derive the corresponding context-aware filters, a Gaussian Mixture filter and another closed-form filter with a posterior distribution whose moments are derived in the paper. Finally, we evaluate the performance of both classes of functions through simulation of an unmanned ground vehicle.
dc.publisher IEEE
dc.relation.ispartof 2015 53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015
dc.relation.isversionof 10.1109/ALLERTON.2015.7447058
dc.title Robust estimation using context-aware filtering
dc.type Conference
duke.contributor.id Pajic, M|0662016
pubs.begin-page 590
pubs.end-page 597
pubs.organisational-group Computer Science
pubs.organisational-group Duke
pubs.organisational-group Electrical and Computer Engineering
pubs.organisational-group Pratt School of Engineering
pubs.organisational-group Trinity College of Arts & Sciences
pubs.publication-status Published


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