3 papers
math.OC2026
A robust approach to sigma point Kalman filtering
Shenglun Yi, Mattia Zorzi
We propose a robust estimator for nonlinear state-space models and provide a clear interpretation of it as the minimizer of a minimax game. The corresponding maximizer searches for…
math.OC2026
An update-resilient Kalman filtering approach
Shenglun Yi, Mattia Zorzi
We propose a new robust filtering paradigm considering the situation in which model uncertainty, described through an ambiguity set, is present only in the observations. We derive…
math.OC2025
Data-driven robust UAV position estimation in GPS signal-challenged environment
Shenglun Yi, Xuebo Jin, Zhengjie Wang +2
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. G…