Adaptive Observation Strategy for Dispersion Process Estimation Using Cooperating Mobile Sensors ⋆

Abstract: Efficient online state estimation of dynamic dispersion processes plays an important role in a variety of safety-critical applications. The use of mobile sensor platforms is increasingly considered in this context, but implies the generation of situation-dependent vehicle trajectories providing high information gain in real-time. In this paper, a new adaptive observation strategy is presented combining state estimation based on partial differential equation models of the dispersion process with a model-predictive control approach for multiple cooperating mobile sensors. In a repeating sequential procedure, based on the Ensemble Transform Kalman Filter, the uncertainty of the current estimate is determined and used to find valuable measurement locations. Those serve as target points for the controller providing optimal trajectories subject to the vehicles ’ motion dynamics and cooperation constraints. First promising results regarding accuracy and efficiency were obtained

Research in Nepal

Findings from University of Dayton geologist, Umesh Haritashya, after the deadly earthquake in Nepal April 25 will be published in a forthcoming article in Science, the leading journal on original scientific research

Arbeiterversicherung

Digiteeritud Euroopa Regionaalarengu Fondi rahastusel, projekti "Eesti teadus- ja õppekirjandus" (2014-2020.12.03.21-0848) raames.https://www.ester.ee/record=b4002957*es

In den Händen der Bolschewiken : Erinnerungen aus dem Jahre 1918

https://www.ester.ee/record=b1148439*es

Das Agrargesetz in Livland (Lettland und Estland)

https://www.ester.ee/record=b4258188*es

Denkschrift über die Einführung von Raffeisen's Darlehnskassen in Livland : für die Kaiserliche Livländische Gemeinnützige und Ökonomische Sozietät / verfasst von deren beständingem Sekretär Gustav von Stryk

http://www.ester.ee/record=b4004421*es

Beiträge zur Geschichte der Rittergüter Livlands. Zweiter Teil, Der lettische Distrikt

http://tartu.ester.ee/record=b1586222~S1*es

A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots

In recent years, the capabilities of legged locomotion controllers have been significantly advanced enabling them to traverse basic types of uneven terrain without visual perception. However, safely and autonomously traversing longer distances over difficult uneven terrain requires appropriate motion planning using online collected environmental knowledge. In this paper, we present such a novel methodology for generic closed-loop preceding horizon footstep planning that enables legged robots equipped with capable locomotion controllers to autonomously traverse previously unknown terrain while continuously walking long distances. Hereby, our approach addresses the challenge of online terrain perception and soft real-time footstep planning. The proposed new formulation of the search-based planning problem makes no specific assumptions about the robot kinematics (e.g. number of legs) or the used locomotion control schemes. Therefore, it can be applied to a broad range of different types of legged robots. Unlike current methods, the proposed new framework can optionally consider the floating base as part of the state-space. It is possible to configure the complexity of the planner online, from efficiently solving tasks in flat terrain to using non-contiguous contacts in highly challenging terrain. Finally, the presented methodology is successfully applied and evaluated in virtual and real experiments on state of the art bipedal, quadrupedal, and a novel eight-legged robot