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eess.SY2026
Fixed-structure Gaussian Mixture Filtering with Robust Measurement Updates under Outliers
Ondřej Straka, Uwe D. Hanebeck
Bayesian state estimation for discrete-time nonlinear stochastic systems is considered in the presence of measurement outliers. Building on a fixed-structure Gaussian mixture filte…
eess.SY2026
Learning Adaptive Parameter Policies for Nonlinear Bayesian Filtering
Ondrej Straka, Felipe Giraldo-Grueso, Renato Zanetti
For many nonlinear Bayesian state estimation problems, the posterior recursion is not analytically tractable, leading to algorithms that are influenced by numerical approximation e…
eess.SY2025
Efficient Gaussian Mixture Filters based on Transition Density Approximation
Ondŕej Straka, Uwe D. Hanebeck
Gaussian mixture filters for nonlinear systems usually rely on severe approximations when calculating mixtures in the prediction and filtering step. Thus, offline approximations of…