8 papers
An Exact Instrument for State Usage in Selective State-Space Models, and the Input-Driven Migration It Reveals
Raktim Bhattacharya
Selective state-space models such as Mamba route information through a bank of first-order modes whose input coupling is set by a learned selection mechanism. We give an exact inst…
Robust Observer Design via Finsler's Lemma and IQCs
Raktim Bhattacharya, Felix Biertümpfel
This paper develops a Finsler-based LMI for robust observer design with integral quadratic constraints (IQCs) and block-structured uncertainty. By introducing…
Sensor Design for Accuracy-Bounded Estimation via Maximum-Entropy Likelihood Synthesis
Raktim Bhattacharya
Designing the sensing architecture for large-scale spatio-temporal systems is hard when accuracy requirements are specified but sensor models are uncertain or unavailable. Classica…
Improving D-Optimal Sensor Placement for Bearing-Only Localization via Maximum-Entropy Reweighting
Raktim Bhattacharya
In this paper, we present a two-layer architecture for bearing-only sensor placement that improves upon classical D-optimal design. The first layer reweights particles by minimizin…
Optimal Sensing Precision for Celestial Navigation Systems in Cislunar Space using LPV Framework
Eliot Nychka, Raktim Bhattacharya
This paper introduces two innovative convex optimization formulations to simultaneously optimize the H2/Hinf observer gain and sensing precision, and guarantee a specified estimati…
Optimal State Estimation in the Presence of Non-Gaussian Uncertainty via Wasserstein Distance Minimization
Himanshu Prabhat, Raktim Bhattacharya
This paper presents a novel distribution-agnostic Wasserstein distance-based estimation framework. The goal is to determine an optimal map combining prior estimate with measurement…
A Convex Optimization Framework for Computing Robustness Margins of Kalman Filters
Himanshu Prabhat, Raktim Bhattacharya
This paper proposes a novel convex optimization framework for designing robust Kalman filters that guarantee a user-specified steady-state error while maximizing process and sensor…
Quantifying Maximum Actuator Degradation for a Given Performance with Full-State Feedback Control
Hrishav Das, Eliot Nychka, Raktim Bhattacharya
In this paper, we address the issue of quantifying maximum actuator degradation in linear time-invariant dynamical systems. We present a new unified framework for computing the sta…