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math.OC2025
Identification with Orthogonal Basis Functions: Convergence Speed, Asymptotic Bias, and Rate-Optimal Pole Selection
Jiayun Li, Yiwen Lu, Yilin Mo +1
This paper is concerned with performance analysis and pole selection problem in identifying linear time-invariant (LTI) systems using orthogonal basis functions (OBFs), a system id…
cs.RO2025
Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits
Yihan Zhou, Yiwen Lu, Bo Yang +2
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement…