Abstract: In this letter, we introduce the Enhanced Polynomial Extended Kalman Filter (ePEKF), a filtering methodology for stochastic discrete-time nonlinear systems. Building upon the idea underlying ...

Abstract: Many robots operate on land, or water surfaces, with limited pitch, roll, and vertical motion. While 2D kinematic equations are a simple approach to model these systems, they fail to capture ...

Model Predictive Control (MPC) is a control strategy that has been widely adopted for the control of dynamical systems. The MPC approach is based on the solution of an optimization problem over a ...