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公开(公告)号：US20230300774A1
公开(公告)日：2023-09-21
申请号：US17655446
申请日：2022-03-18
发明人： Karl Berntorp , Marcus Greiff
IPC分类号： H04W64/00
CPC分类号： H04W64/00
摘要： A hybrid distributed estimation system (DES) jointly tracks states of a plurality of moving devices configured to transmit measurements indicative of a state of a moving device and an estimation of the state of the moving device derived from the measurements. The hybrid DES selects between the measurements and the estimations, and based on this selection activates different types of DESs configures to jointly track the states of the moving devices using different types of information. Next, the hybrid DES tracks the states using the activated DES allowing track the state by different DES at different instances of time.
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公开(公告)号：US20230288886A1
公开(公告)日：2023-09-14
申请号：US17654580
申请日：2022-03-12
发明人： Karl Berntorp , Marcel Menner
CPC分类号： G05B13/048 , G05B13/042 , G06N7/005
摘要： A probabilistic feedback controller for controlling an operation of a robotic system using a probabilistic filter subject to a structural constraint on an operation of the robotic system is configured to execute a probabilistic filter estimates a distribution of a current state of the robotic system given a previous state of the robotic system based on a motion model of the robotic system perturbed by stochastic process noise and a measurement model of the robotic system perturbed by stochastic measurement noise having an uncertainty modeled as a time-varying Gaussian process represented as a weighted combination of time-varying basis functions with weights defined by corresponding Gaussian distributions. The probabilistic filter recursively updates both the distribution of the current state of the robotic system and the Gaussian distributions of the weights of the basis functions selected to satisfy the structural constraint indicated by measurements of the state of a robotic system.
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公开(公告)号：US11597364B2
公开(公告)日：2023-03-07
申请号：US16298245
申请日：2019-03-11
发明人： Karl Berntorp
IPC分类号： B60T8/1761 , B60T8/172 , B60W40/068
摘要： A system calibrates a function of a tire friction of a vehicle traveling on a road from motion data including a sequence of control inputs to the vehicle that moves the vehicle on the road and a corresponding sequence of measurements of the motion of the vehicle moved by the sequence of control inputs. The system updates iteratively the probability distribution of the tire friction function until a termination condition is met, wherein, for an iteration, the system samples the probability distribution of the tire friction function, determines a state trajectory of the vehicle to fit the sequence measurements according to the measurement model and the sequence of control inputs according to the motion model including the sample of the tire friction function, and updates the probability distribution of the tire friction function based on the state trajectory of the vehicle.
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公开(公告)号：US20220373671A1
公开(公告)日：2022-11-24
申请号：US17308220
申请日：2021-05-05
发明人： Pu Wang , Gang Yao , Hassan Mansour , Karl Berntorp , Petros Boufounos , Philip Orlik
IPC分类号： G01S13/62 , G01S13/931 , G01S7/41
摘要： A tracking system for tracking an expanded state of an object is provided. The tracking system comprises at least one processor and a memory having instructions stored thereon that, when executed by the at least one processor, cause the tracking system to execute a probabilistic filter that iteratively tracks a belief on the expanded state of the object, wherein the belief is predicted using a motion model of the object and is further updated using a compound measurement model of the object. The compound measurement model includes multiple probabilistic distributions constrained to lie on a contour of the object with a predetermined relative geometrical mapping to the center of the object. Further, the tracking system tracks the expanded state of the object based on the updated belief on the expanded state.
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公开(公告)号：US11340356B2
公开(公告)日：2022-05-24
申请号：US16789457
申请日：2020-02-13
发明人： Karl Berntorp , Marcus Greiff
摘要： A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to avoid the need for intermediate integers ambiguity estimate. The system selects the subset of measurements for the state tracking such that each measurement in the selected subset of measurements is formed by a weighted combination of multiple different measurements from the set of measurements. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.
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公开(公告)号：US20210278548A1
公开(公告)日：2021-09-09
申请号：US16789457
申请日：2020-02-13
发明人： Karl Berntorp , Marcus Greiff
摘要： A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to avoid the need for intermediate integers ambiguity estimate. The system selects the subset of measurements for the state tracking such that each measurement in the selected subset of measurements is formed by a weighted combination of multiple different measurements from the set of measurements. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.
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公开(公告)号：US20200290625A1
公开(公告)日：2020-09-17
申请号：US16299285
申请日：2019-03-12
发明人： Karl Berntorp , Rien Quirynen , Stefano Di Cairano
IPC分类号： B60W40/068 , B60W30/18 , B60W30/02
摘要： A system control a vehicle using a friction function describing a friction between a type of surface of the road and a tire of the vehicle as a function of a slip of a wheel of the vehicle. The parameters of each friction function include an initial slope of the friction function defining a stiffness of the tire and one or combination of a peak friction, a shape factor and a curvature factor of the friction function. Upon estimating a slip and a stiffness of the tire, the system selects from the memory parameters of the friction function corresponding to the current stiffness of the tire, determines a control command using a value of the friction corresponding to the slip of the tire according to the friction function defined by the selected parameters, and submits the control command to an actuator of the vehicle.
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公开(公告)号：US10012988B2
公开(公告)日：2018-07-03
申请号：US15363342
申请日：2016-11-29
CPC分类号： G05D1/0088 , B60W30/095 , G01C21/20 , G05D1/0214 , G05D1/0274 , G06N5/003
摘要： Systems and methods for controlling a motion of an object from an initial location to a final location within a region while avoiding a set of obstacles located in the region. The systems and methods include selecting, the equilibrium points within the obstacle-free region of the region, and each equilibrium point includes a corresponding controller driving the object to the equilibrium point, such that each controller includes a corresponding state partition. Designing the controller and the corresponding state partition, based on the obstacle-free region around the equilibrium point, to produce a collection of controllers and corresponding equilibrium points and corresponding state partitions, that connect the initial location with the final location. Determining actuator commands at time T using a controller corresponding to a state partition that includes the location of the object at time T, and the resulting sequence over a period of time of actuator commands, moves the object.
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公开(公告)号：US09915948B2
公开(公告)日：2018-03-13
申请号：US15210299
申请日：2016-07-14
CPC分类号： G05D1/0088 , B60W30/10 , B62D15/02 , G05D1/0212 , G05D2201/0213
摘要： A method selects from a memory a first model of motion of vehicle, a second model of the motion of the vehicle, a first constraint on the first model for moving along a desired trajectory of the vehicle, and a control invariant set joining states of the first model with states of the second model. For each combination of the states within the control invariant subset there is at least one control action to the second model that maintains the state of the second model within the control invariant set for every modification of the state of the first model satisfying the first constraint. A portion of the desired trajectory satisfying the first constraint is determined using the first model while a sequence of commands for moving the vehicle along the portion of the desired trajectory is determined using the second model. The sequence of commands is determined to maintain the sequence of the states of the second model and a sequence of the states of the first model determined by the portion of the desired trajectory within the control invariant subset. The vehicle is controlled using at least one command from the sequence of commands.
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10.发明授权公开(公告)号：US11914023B2
公开(公告)日：2024-02-27
申请号：US17308220
申请日：2021-05-05
发明人： Pu Wang , Gang Yao , Hassan Mansour , Karl Berntorp , Petros Boufounos , Philip Orlik
IPC分类号： G01S13/62 , G01S7/41 , G01S13/93 , G01S13/931
CPC分类号： G01S13/62 , G01S7/418 , G01S13/931
摘要： A tracking system for tracking an expanded state of an object is provided. The tracking system comprises at least one processor and a memory having instructions stored thereon that, when executed by the at least one processor, cause the tracking system to execute a probabilistic filter that iteratively tracks a belief on the expanded state of the object, wherein the belief is predicted using a motion model of the object and is further updated using a compound measurement model of the object. The compound measurement model includes multiple probabilistic distributions constrained to lie on a contour of the object with a predetermined relative geometrical mapping to the center of the object. Further, the tracking system tracks the expanded state of the object based on the updated belief on the expanded state.
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