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SUMMARY:Vortrag von Prof. Jay Farrell
DESCRIPTION:Prof. Jay Farrellr \nDept. of Electrical and Computer Engineering\nUniversity of California, Riverside, USA  \nMonday 2017-06-26 16:00\n IST-Seminar-Room 2.268 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen  \nAbstract  \nKey among the challenges inhibiting effective commercial deployment of autonomous vehicles is\naccurate and reliable awareness of world interactions. Awareness arises from onboard sensors and\nubiquitous communication between vehicles and infrastructure. Vehicle coordination and safety\nnecessitate reliable “where-in-lane” knowledge of vehicle position. This presentation will address\nvehicle state estimation with a focus on high precision and reliability.\nSensor fusion is critical to achieving application requirements. Standard Extended Kalman Filter\n(EKF) approaches are not sufficiently reliable at removing the effects of spurious measurements\nbecause the EKF approach must decide at the time each measurement arrives whether it is valid. When\nthat decision is wrong, either measurement information is lost or the state and covariance\nestimates are corrupted. Either situation can result in EKF divergence.\nAn alternative is to maintain all measurement data within a moving time-horizon, considering\nvarious fault assumptions, and extracting the Bayesian optimal trajectory over the time horizon.\nThis approach is referred to as a Contemplative Real-Time (CRT) estimator. This presentation will\nreview the interrelationships between the EKF, Iterated Extended Kalman Filter (IEKF), and the CRT.\nAs well as its closely relationship with Moving Horizon Estimation (MHE) and Simultaneous\nLocalization and Mapping (SLAM).  \n   \n  \nBiographical Information  \nJay A. Farrell is a Professor in the Department of Electrical and Computer Engineering at the\nUniversity of California, Riverside. He served the IEEE Control Systems Society (CSS) as Finance\nChair for three IEEE CDC`s, on the Board of Governors for two terms, as Vice President Finance and\nVice President of Technical Activities,  as General Chair of IEEE CDC 2012, and as President\nin 2014. He was a GPS World Magazine GNSS Leader to Watch for 2009-2010 and a winner of the U.S.\nDepartment of Transportation`s Connected Vehicle Technology Challenge in 2011. He is author of over\n250 technical publications and three books, a Distinguished Member of IEEE CSS, a Fellow of AAAS,\nand a Fellow of the IEEE.
DTSTART;TZID=Europe/Berlin;VALUE=DATE:20170626
URL;VALUE=URI:https://www.ist.uni-stuttgart.de/de/veranstaltungen/Vortrag-von-Prof.-Jay-Farrell/
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