Katedra kybernetiky / Department of Cybernetics


Recent Submissions

Duník, Jindřich , Kost, Oliver , Straka, Ondřej , Blasch, Erik Philip
Navigation and Estimation Improvement by Environmental-Driven Noise Mode Detection

This paper deals with the state estimation of nonlinear stochastic dynamic systems, where the measurement noise is modelled by the multimodal Gaussian sum probability density function. The multimodal density is able to sufficiently capture various environmental features and phenomena affecting se...

Straka, Ondřej , Duník, Jindřich
Resampling-free Stochastic Integration Filter

The paper deals with the state estimation of nonlinear stochastic systems with additive Gaussian noises by means of the Gaussian filters leveraging numerical integration rules. The filters were derived under the assumption of the joint state and measurement predictive density being Gaussian,...

Straka, Ondřej , Punčochář, Ivo
Hierarchical Active Fault Diagnosis for Stochastic Large Scale Systems with Coupled Faults

The paper deals with the active fault diagnosis of large scale stochastic systems with faults modeled as mutually dependent Markov chains. The system is described by multiple models representing fault-free and faulty behavior of the system. The aim of the active fault detector in&#...

Ajgl, Jiří , Straka, Ondřej
Inverse Covariance Intersection Fusion of Multiple Estimates

Linear fusion of estimates is a basic tool for combining probabilistic data. If the correlation of estimation errors is unknown, the fusion performance is evaluated with respect to the worst case. Inverse Covariance Intersection fusion is a rule for combining two estimates with par...

Ajgl, Jiří , Straka, Ondřej
Design of Confidence Sets for Estimation with Approximate Piecewise Linear Constraint

Constrained state estimation has been studied in the literature usually from the point estimation perspective. That is, a random vector is designed and its covariance matrix is searched based on contextual information available in addition to the measured data. This paper deals with...