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Regularization for distributionally robust state estimation and prediction

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Robust T2 Relaxometry with Hamiltonian MCMC for Myelin Water Fraction Estimation

Jean-Philippe Thiran, Marco Pizzolato, Thomas Yu

We present a voxel-wise Bayesian multi-compartment T2 relaxometry fitting method based on Hamiltonian Markov Chain Monte Carlo (HMCMC) sampling. The T 2 spectrum is modeled as a mixture of truncated Gaussian components, which involves the estimation of par ...

IEEE2019

Distributed state estimation for discrete-time linear time invariant systems: A survey

Colin Neil Jones, Francisco Fernandes Castro Rego

Motivated by the increasing availability and quality of miniaturized sensors, computers, and wireless communication devices arid given their enormous potential, the use of wireless sensor networks (WSN) has become widespread. Because in many applications o ...

2019

Averaging Stochastic Gradient Descent on Riemannian Manifolds

Nicolas Henri Bernard Flammarion

We propose an estimator for the mean of a random vector in Rd that can be computed in time O(n3.5 + n2d) for n i.i.d. samples and that has error bounds matching the sub-Gaussian case. The only assumptions we make about the data distribution are that it has ...

2018

Distributed State Estimation and Cooperative Path-Following Under Communication Constraints

Francisco Fernandes Castro Rego

The main topics of this thesis are distributed estimation and cooperative path-following in the presence of communication constraints, with applications to autonomous marine vehicles. To this end, we study algorithms that take explicitly into account the c ...

EPFL2018

Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

Jan Skaloud, Michael Meurer

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many vehicular applications. However, in challenging GNSS scenarios, classical GNSS/INS integration estimators are very sensitive ...

2018

A design method for distributed luenberger observers

Colin Neil Jones, Francisco Fernandes Castro Rego

The paper addresses the problem of designing distributed observers for discrete linear time-invariant (LTI) systems with distributed sensor nodes subjected to bounded measurement noise. A solution is proposed in terms of a distributed LTI Luenberger observ ...

IEEE2018

Every day tons of pollutants are emitted into the atmosphere all around the world. These pollutants are altering the equilibrium of our planet, causing profound changes in its climate, increasing global temperatures, and raising the sea level. The need to ...

EPFL2017

Robust Distributed Estimation by Networked Agents

Ali H. Sayed, Ali Zoubir

Diffusion adaptive networks tasked with solving estimation problems have attracted attention in recent years due to their reliability, scalability, resource efficiency, and resilience to node and link failure. Diffusion adaptation strategies that are based ...

2017

, ,

Linear inverse problems are ubiquitous. Often the measurements do not follow a Gaussian distribution. Additionally, a model matrix with a large condition number can complicate the problem further by making it ill-posed. In this case, the performance of pop ...

2017

Research online: Robust tightly coupled GNSS/INS estimation for navigation

Jan Skaloud, Omar Garcia Crespillo, Michael Meurer

We designed a tightly-coupled integration between GNSS and inertial navigation systems (INS) where we modify the update step of a classical Extended Kalman Filter (EKF) to consider different robust estimators (such as M-estimators). We consider different f ...

2017