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Ballistic Coefficient Estimation with Guassian Process Particle Filter |
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Il-Chul Moon, Jinhyung Tak, Sang-Hyeon Kim, Kyungwoo Song(KAIST, Korea) |
| This paper presents the Gaussian-process based particle filter for estimating the ballistic coefficient of a
high-speed target. Tracking a high-speed target is a critical task in the estimation accuracy because any intervention on the target will require accurate information on the target states. |
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Black-Box Expectation-Maximization Algorithm for Estimating Latent States of High-Speed Vehicles |
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Yoon-Yeong Kim, Wonsung Lee, Il-Chul Moon(KAIST, Korea) |
| Tracking a high-speed ballistic vehicle under noisy environment is affected by the change of atmospheric conditions as well as the various parameters of the object itself. This paper proposes a black-box Expectation-Maximization algorithm to estimate the latent parameters for enhancing the accuracy of the trajectory tracking. The E-step calculates the likelihood of the observation by the Extended Kalman Smoothing that reflects the forward-backward probability combination. The M-step optimizes the unknown parameters to maximize the likelihood by the Bayesian optimization with Gaussian process. |
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Tracking of multiple targets using GM-PHD filter with nonlinear measurement model |
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Jun-Yong Lee, Wonchul Kim, Hyounjin Kim(Seoul National University, Korea) |
| In this paper, a method of multi-target tracking based on Gaussian mixture probability hypothesis density(GMPHD)
filter is investigated against targets that have drastic velocity change during their maneuvering. GM-PHD filter, a
recursive algorithm to track a number of targets, applies the probability hypothesis density recursion to propagate the
posterior intensity. To consider practical environments, nonlinearity of an observation model is considered and techniques
of extended Kalman filter(EKF) and unscented Kalman filter(UKF) are applied. |
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Convexity-based sequential track resource allocation for a phased array radar |
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Soon-Seo Park(KAIST, Korea), Dae-Sung Jang(Korea Aerospace University, Korea), Han-Lim Choi(KAIST, Korea) |
| This paper presents optimal resource allocation for multi-target tracking with a phased array radar. To fully exploit the radar potential, the resource manager must allocate resource to tasks in a way which maximises performance. Especially, the track tasks are required to be executed to consider expected tracking performance while utilizing limited time resource. Thus, in this paper, we propose sequential resource allocation algorithms for multiple track tasks that ensure optimality under a justifiable convexity assumption. |
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Topology Optimization of Hierarchical Sensor Fusion Network Considering Time Delay |
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Woo-Cheol Lee, Han-Lim Choi(University, Korea) |
| Time delay in sensor fusion is one of the main obstacles to situational awareness and can be mitigated through sensor network planning. This paper deals with topology optimization problem considering time delay in hierarchical sensor fusion network. |
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Simulated Physics for High Speed Aerial Systems |
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MinKu Kang, Kee-Eung Kim(KAIST, Korea) |
| In this work, we introduce a model of an aerial system based on a physics-based simulation engine. We investigate some basic properties of the proposed model mostly focusing on self-stability characteristics, showing its potential benefit for autonomous control. |
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