In electronic consumer Internet of Things (IoT), consumer electronic devices as edge devices require less computational overhead and the remote state estimation (RSE) of consumer electronic devices is always at risk of denial-of-service (DoS) attacks. Therefore, the adversarial strategy between consumer electronic devices and DoS attackers is critical. This paper focuses on the adversarial strategy between consumer electronic devices and DoS attackers in IoT-enabled RSE Systems. We first propose a remote joint estimation model for distributed measurements to effectively reduce consumer electronic device workload and minimize data leakage risks. The Kalman filter is deployed on the remote estimator, and the DoS attacks with open-loop as well as closed-loop are considered. We further introduce advanced reinforcement learning techniques, including centralized and distributed Minimax-DQN, to address high-dimensional decision-making challenges in both open-loop and closed-loop scenarios. Especially, the Q-network instead of the Q-table is used in the proposed approaches, which effectively solves the challenge of Q-learning. Moreover, the proposed distributed Minimax-DQN reduces the action space to expedite the search for Nash Equilibrium (NE). The experimental results validate that the proposed model can expeditiously restore the RSE error covariance to a stable state in the presence of DoS attacks, exhibiting notable attack robustness. The proposed centralized and distributed Minimax-DQN effectively resolves the NE in both open and closed-loop case, showcasing remarkable performance in terms of convergence. It reveals that substantial advantages in both efficiency and stability are achieved compared with the state-of-the-art methods.
Remote state estimation in cyber-physical systems is often vulnerable to cyber-attacks due to wireless connections between sensors and computing units. In such scenarios, adversaries compromise the system by injecting false data or blocking measurement transmissions via denial-of-service attacks, distorting sensor readings. This paper develops a Kalman filter and Rauch--Tung--Striebel (RTS) smoother for linear stochastic state-space models subject to cyber-attacked measurements. We approximate the faulty measurement model via generalized statistical linear regression (GSLR). The GSLR-based approximated measurement model is then used to develop a Kalman filter and RTS smoother for the problem. The effectiveness of the proposed algorithms under cyber-attacks is demonstrated through a simulated aircraft tracking experiment.
This paper investigates the distributed Kalman filter (DKF) for linear systems, with specific attention on measurement fusion, which is a typical way of information sharing and is vital for enhancing stability and improving estimation accuracy. We show that it is the mismatch between the fused measurement and the fused covariance that leads to performance degradation or inconsistency in previous consensus-based DKF algorithms. To address this issue, we introduce two fully distributed approaches for calculating the exact covariance of the fused measurements, building upon which the modified DKF algorithms are proposed. Moreover, the performance analysis of the modified algorithms is also provided under rather mild conditions, including the steady-state value of the estimation error covariance. We also show that due to the guaranteed consistency in the modified DKF algorithms, the steady-state estimation accuracy is significantly improved compared to classical DKF algorithms. Numerical experiments are carried out to validate the theoretical analysis and show the advantages of the proposed methods.
Reliable state estimation is essential for autonomous systems operating in complex, noisy environments. Classical filtering approaches, such as the Kalman filter, can struggle when facing nonlinear dynamics or non-Gaussian noise, and even more flexible particle filters often encounter sample degeneracy or high computational costs in large-scale domains. Meanwhile, adaptive machine learning techniques, including Q-learning and neuroevolutionary algorithms such as NEAT, rely heavily on accurate state feedback to guide learning; when sensor data are imperfect, these methods suffer from degraded convergence and suboptimal performance. In this paper, we propose an integrated framework that unifies particle filtering with Q-learning and NEAT to explicitly address the challenge of noisy measurements. By refining radar-based observations into reliable state estimates, our particle filter drives more stable policy updates (in Q-learning) or controller evolution (in NEAT), allowing both reinforcement learning and neuroevolution to converge faster, achieve higher returns or fitness, and exhibit greater resilience to sensor uncertainty. Experiments on grid-based navigation and a simulated car environment highlight consistent gains in training stability, final performance, and success rates over baselines lacking advanced filtering. Altogether, these findings underscore that accurate state estimation is not merely a preprocessing step, but a vital component capable of substantially enhancing adaptive machine learning in real-world applications plagued by sensor noise.
Non-Gaussian noise and the uncertainty of noise distribution are the common factors that reduce accuracy in dynamic state estimation of power systems (PS). In addition, the optimal value of the free coefficients in the unscented Kalman filter (UKF) based on information theoretic criteria is also an urgent problem. In this paper, a robust adaptive UKF (AUKF) under generalized minimum mixture error entropy with fiducial points (GMMEEF) over improve Snow Geese algorithm (ISGA) (ISGA-GMMEEF-AUKF) is proposed to overcome the above difficulties. The estimation process of the proposed algorithm is based on several key steps including augmented regression error model (AREM) construction, adaptive state estimation, and free coefficients optimization. Specifically, an AREM consisting of state prediction and measurement errors is established at the first step. Then, GMMEEF-AUKF is developed by solving the optimization problem based on GMMEEF, which uses a generalized Gaussian kernel combined with mixture correntropy to enhance the flexibility further and resolve the data problem with complex attributes and update the noise covariance matrix according to the AREM framework. Finally, the ISGA is designed to automatically calculate the optimal value of coefficients such as the shape coefficients of the kernel in the GMMEEF criterion, the coefficients selection sigma points in unscented transform, and the update coefficient of the noise covariance matrices fit with the PS model. Simulation results on the IEEE 14, 30, and 57-bus test systems in complex scenarios have confirmed that the proposed algorithm outperforms the MEEF-UKF and UKF by an average efficiency of 26% and 65%, respectively.
The constrained zonotope is a polytopic set representation widely used for set-based analysis and control of dynamic systems. This paper considers the problem of tailoring a quadratic program (QP) optimization algorithm to the particular structure of constrained zonotopes and vice-versa. An alternating direction method of multipliers (ADMM) algorithm is presented that makes efficient use of the constrained zonotope structure. To increase the efficiency of the ADMM iterations, reachability calculations are presented that increase the sparsity of the matrices used to define a constrained zonotope. Numerical results show that the ADMM algorithm solves optimal control problems built using these reachability calculations faster than state-of-the-art QP solvers using conventional problem formulations, especially for large problems. Constrained zonotope reachability and optimization calculations are combined within a set-valued state estimation and moving horizon estimation algorithm, and a projection-based infeasibility detection method is presented for efficient safety verification of system trajectories.
We provide an open-access dataset of phasor & waveform measurement units (PMUs/WMUs) of a real-world electrical distribution network. The network consists of diverse sets of generation resources (including solar panels, fuel cells, natural gas generators, and utility interconnections), loads (including large-scale electric vehicle charging, data centers, central cooling, offices), topology changes (such as line outages and load transfers), as well as a mixture of single- and three-phase networks. We describe a densely deployed PMU sensor network in a distribution grid, in which all buses with non-zero power injections are measured. This approach enables a range of applications such as state estimation, system identification, power flow optimization, and feedback control, several of which are discussed in this paper. Additionally, we provide a synchronized waveform dataset which allows the analysis of harmonics, transient events, dynamic grid impedance, and stability. Data collection started in 2023 while new data is generated continuously and made available online. A characterization of measurement error is provided. Finally, we provide circuit topology and parameters as a part of the dataset. Together, the circuit and timeseries data offer an opportunity for researchers to develop and test algorithms on a real-world system.
Lithium-ion batteries are widely used in transportation, energy storage, and consumer electronics, driving the need for reliable battery management systems (BMS) for state estimation and control. The Single Particle Model (SPM) balances computational efficiency and accuracy but faces challenges in parameter estimation due to numerous parameters. Current SPM models using parabolic approximation introduce intermediate variables and hard to do parameter grouping. This study presents a control-oriented SPM reformulation that employs parameter grouping and parabolic approximation to simplify model parameters while using average and surface lithium-ion concentrations as model output. By parameter grouping, the original 17 parameters were reduced to 9 grouped parameters. The reformulated model achieves a reduced-order ordinary differential equation form while maintaining mathematical accuracy equivalent to the pre-grouped discretized SPM. Through Sobol sensitivity analysis under various current profiles, the grouped parameters were reduced from 9 to 6 highly sensitive parameters. Results demonstrate that estimating these 6 parameters achieves comparable practical accuracy to estimating all 9 parameters, with faster convergence. This control-oriented SPM enhances BMS applications by facilitating state estimation and control while reducing parameter estimation requirements.
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation (e.g., dynamic maneuvers) and accurate global localization (e.g., wayfinding). While most existing sensor-fusion approaches are designed for specific scenarios, this work introduces a flexible open-source solution for task- and setup-agnostic multimodal sensor fusion that is distinguished by its generality and usability. Holistic Fusion formulates sensor fusion as a combined estimation problem of i) the local and global robot state and ii) a (theoretically unlimited) number of dynamic context variables, including automatic alignment of reference frames; this formulation fits countless real-world applications without any conceptual modifications. The proposed factor-graph solution enables the direct fusion of an arbitrary number of absolute, local, and landmark measurements expressed with respect to different reference frames by explicitly including them as states in the optimization and modeling their evolution as random walks. Moreover, local smoothness and consistency receive particular attention to prevent jumps in the robot state belief. HF enables low-latency and smooth online state estimation on typical robot hardware while simultaneously providing low-drift global localization at the IMU measurement rate. The efficacy of this released framework is demonstrated in five real-world scenarios on three robotic platforms, each with distinct task requirements.
This paper introduces ZETA, a new MATLAB library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems. It features user-friendly implementations of set representations based on zonotopes, namely zonotopes, constrained zonotopes, and line zonotopes, in addition to a basic implementation of interval arithmetic. This library has capabilities starting from the basic set operations with these sets, including propagations through nonlinear functions using various approximation methods. The features of ZETA allow for reachability analysis and state estimation of discrete-time linear, nonlinear, and descriptor systems, in addition to active fault diagnosis of linear systems. Efficient order reduction methods are also implemented for the respective set representations. Some examples are presented in order to illustrate the functionalities of the new library.
Precise vehicle state estimation is crucial for safe and reliable autonomous driving. The number of measurable states and their precision offered by the onboard vehicle sensor system are often constrained by cost. For instance, measuring critical quantities such as the Vehicle Sideslip Angle (VSA) poses significant commercial challenges using current optical sensors. This paper addresses these limitations by focusing on the development of high-performance virtual sensors to enhance vehicle state estimation for active safety. The proposed Uncertainty-Aware Hybrid Learning (UAHL) architecture integrates a machine learning model with vehicle motion models to estimate VSA directly from onboard sensor data. A key aspect of the UAHL architecture is its focus on uncertainty quantification for individual model estimates and hybrid fusion. These mechanisms enable the dynamic weighting of uncertainty-aware predictions from machine learning and vehicle motion models to produce accurate and reliable hybrid VSA estimates. This work also presents a novel dataset named Real-world Vehicle State Estimation Dataset (ReV-StED), comprising synchronized measurements from advanced vehicle dynamic sensors. The experimental results demonstrate the superior performance of the proposed method for VSA estimation, highlighting UAHL as a promising architecture for advancing virtual sensors and enhancing active safety in autonomous vehicles.
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding the original state space, $\so \times \R^3 \times \R^3$, within the higher-dimensional Lie group $\sefive$, we reformulate the vehicle dynamics and outputs within a structured, geometric framework. In particular, this embedding enables a decoupling of the resulting geometric error dynamics: the translational error dynamics follow a structure similar to the error dynamics of a continuous-time Kalman filter, which allows for a time-varying gain design using the Riccati equation. Under the condition of uniform observability, we establish that the proposed observer design on $\sefive$ guarantees almost global asymptotic stability. We validate the approach in simulations for two practical scenarios: stereo-aided inertial navigation systems (INS) and GPS-aided INS. The proposed method significantly simplifies the design of nonlinear geometric observers for INS, providing a generalized and robust approach to state estimation.
Green hydrogen, produced via water electrolysis using renewable energy, is seen as a cornerstone of the energy transition. Coupling of renewable power supplies to water electrolysis processes is, however, challenging, as explosive gas mixtures (hydrogen in oxygen) might form at low loads. This has prompted research into gas purity control of such systems. While these attempts have shown to be successful in theoretical and practical studies, they are currently limited in that they only consider the gas purity at locations where composition measurements are available. As these locations are generally positioned downstream of the disturbance origin, this incurs considerable delays and can lead to undetected critical conditions. In this work, we propose the use of an Extended Kalman Filter (EKF) in combination with a simple process model to estimate and control the gas composition at locations where measurements are not available. The model uses noise-driven states for the gas impurity and is hence agnostic towards any mechanistic disturbance model. We show in simulations that this simple approach performs well under various disturbance types and can reduce the time spent in potentially hazardous conditions by up to one order of magnitude.
This paper is about the state estimation of timed probabilistic discrete event systems. The main contribution is to propose general procedures for developing state estimation approaches based on artificial neural networks. It is assumed that no formal model of the system exists but a data set is available, which contains the history of the timed behaviour of the systems. This dataset will be exploited to develop a neural network model that uses both logical and temporal information gathered during the functioning of the system as inputs and provides the state probability vector as output. Two main approaches are successively proposed (i) state estimation of timed probabilistic discrete event systems over observations: in this case the state estimate is reconstructed at the occurrence of each new observation; (ii) state estimation of timed probabilistic discrete event systems over time: in this case the state estimate is reconstructed at each clock time increment. For each approach, the paper outlines the process of data preprocessing, model building and implementation. This paper not only proposes groundbreaking approaches but also opens the door to further exploitation of artificial neural networks for the benefit of discrete event systems.
Generalizable robotic mobile manipulation in open-world environments poses significant challenges due to long horizons, complex goals, and partial observability. A promising approach to address these challenges involves planning with a library of parameterized skills, where a task planner sequences these skills to achieve goals specified in structured languages, such as logical expressions over symbolic facts. While vision-language models (VLMs) can be used to ground these expressions, they often assume full observability, leading to suboptimal behavior when the agent lacks sufficient information to evaluate facts with certainty. This paper introduces a novel framework that leverages VLMs as a perception module to estimate uncertainty and facilitate symbolic grounding. Our approach constructs a symbolic belief representation and uses a belief-space planner to generate uncertainty-aware plans that incorporate strategic information gathering. This enables the agent to effectively reason about partial observability and property uncertainty. We demonstrate our system on a range of challenging real-world tasks that require reasoning in partially observable environments. Simulated evaluations show that our approach outperforms both vanilla VLM-based end-to-end planning or VLM-based state estimation baselines by planning for and executing strategic information gathering. This work highlights the potential of VLMs to construct belief-space symbolic scene representations, enabling downstream tasks such as uncertainty-aware planning.
This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many applications, process and sensor noise necessitates state estimation and noise filtering. In this work, we present the first surge and heading linear dynamical model for Jaiabots derived from real data collected during field testing. An adaptive input estimation algorithm is implemented to accurately estimate the control input and hence the state. For validation, this approach is compared to the classical Kalman filter, highlighting its advantages in handling unknown control inputs.
In this paper, we explore the feasibility of using communication signals for extended target (ET) tracking in an integrated sensing and communication (ISAC) system. The ET is characterized by its center range, azimuth, orientation, and contour shape, for which conventional scatterer-based tracking algorithms are hardly feasible due to the limited scatterer resolution in ISAC. To address this challenge, we propose ISACTrackNet, a deep learning-based tracking model that directly estimates ET kinematic and contour parameters from noisy received echoes. The model consists of three modules: Denoising module for clutter and self-interference suppression, Encoder module for instantaneous state estimation, and KalmanNet module for prediction refinement within a constant-velocity state-space model. Simulation results show that ISACTrackNet achieves near-optimal accuracy in position and angle estimation compared to radar-based tracking methods, even under limited measurement resolution and partial occlusions, but orientation and contour shape estimation remains slightly suboptimal. These results clearly demonstrate the feasibility of using communication-only signals for reliable ET tracking.
This paper presents a new algorithm for set-based state estimation of nonlinear discrete-time systems with bounded uncertainties. The novel method builds upon essential properties and computational advantages of constrained zonotopes (CZs) and polyhedral relaxations of factorable representations of nonlinear functions to propagate CZs through nonlinear functions, which is usually done using conservative linearization in the literature. The new method also refines the propagated enclosure using nonlinear measurements. To achieve this, a lifted polyhedral relaxation is computed for the composite nonlinear function of the system dynamics and measurement equations, in addition to incorporating the measured output through equality constraints. Polyhedral relaxations of trigonometric functions are enabled for the first time, allowing to address a broader class of nonlinear systems than our previous works. Additionally, an approach to obtain an equivalent enclosure with fewer generators and constraints is developed. Thanks to the advantages of the polyhedral enclosures based on factorable representations, the new state estimation method provides better approximations than those resulting from linearization procedures. This led to significant improvements in the computation of convex sets enclosing the system states consistent with measured outputs. Numerical examples highlight the advantages of the novel algorithm in comparison to existing CZ methods based on the Mean Value Theorem and DC programming principles.
Visual-inertial odometry (VIO) is widely used for state estimation in autonomous micro aerial vehicles using onboard sensors. Current methods improve VIO by incorporating a model of the translational vehicle dynamics, yet their performance degrades when faced with low-accuracy vehicle models or continuous external disturbances, like wind. Additionally, incorporating rotational dynamics in these models is computationally intractable when they are deployed in online applications, e.g., in a closed-loop control system. We present HDVIO2.0, which models full 6-DoF, translational and rotational, vehicle dynamics and tightly incorporates them into a VIO with minimal impact on the runtime. HDVIO2.0 builds upon the previous work, HDVIO, and addresses these challenges through a hybrid dynamics model combining a point-mass vehicle model with a learning-based component, with access to control commands and IMU history, to capture complex aerodynamic effects. The key idea behind modeling the rotational dynamics is to represent them with continuous-time functions. HDVIO2.0 leverages the divergence between the actual motion and the predicted motion from the hybrid dynamics model to estimate external forces as well as the robot state. Our system surpasses the performance of state-of-the-art methods in experiments using public and new drone dynamics datasets, as well as real-world flights in winds up to 25 km/h. Unlike existing approaches, we also show that accurate vehicle dynamics predictions are achievable without precise knowledge of the full vehicle state.
Accurately predicting the state of health for sodium-ion batteries is crucial for managing battery modules, playing a vital role in ensuring operational safety. However, highly accurate models available thus far are rare due to a lack of aging data for sodium-ion batteries. In this study, we experimentally collected 53 single cells at four temperatures (0, 25, 35, and 45 {\deg}C), along with two battery modules in the lab. By utilizing the charging profiles, we were able to predict the SOC, capacity, and SOH simultaneously. This was achieved by designing a new framework that integrates the neural ordinary differential equation and 2D convolutional neural networks, using the partial charging profile as input. The charging profile is partitioned into segments, and each segment is fed into the network to output the SOC. For capacity and SOH prediction, we first aggregated the extracted features corresponding to segments from one cycle, after which an embedding block for temperature is concatenated for the final prediction. This novel approach eliminates the issue of multiple outputs for a single target. Our model demonstrated an $R^2$ accuracy of 0.998 for SOC and 0.997 for SOH across single cells at various temperatures. Furthermore, the trained model can be employed to predict single cells at temperatures outside the training set and battery modules with different capacity and current levels. The results presented here highlight the high accuracy of our model and its capability to predict multiple targets simultaneously using a partial charging profile.