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eess.SY2025
Predictive Control for Driving under Uncertain Road Geometry Estimated from Onboard Vision
Jelena Trisovic, Andrea Carron, Melanie N. Zeilinger
Autonomous vehicles driving on unknown roads must estimate the road geometry from onboard sensors and follow the resulting reference while respecting road boundaries. When the perc…
eess.SY2024
Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
Jelena Trisovic, Alexandre Didier, Simon Muntwiler +1
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We…