6 papers
Real-time tightly coupled GNSS and IMU integration via Factor Graph Optimization
Radu-Andrei Cioaca, Paul Irofti, Cristian Rusu +3
Reliable positioning in dense urban environments remains challenging due to frequent GNSS signal blockage, multipath, and rapidly varying satellite geometry. While factor graph opt…
Real-time loosely coupled GNSS and IMU integration via Factor Graph Optimization
Radu-Andrei Cioaca, Cristian Rusu, Paul Irofti +3
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT…
Roundabout Constrained Convex Generators: A Unified Framework for Multiply-Connected Reachable Sets
Peng Xie, Sabin Diaconescu, Florin Stoican +1
This paper introduces Roundabout Constrained Convex Generators (RCGs), a set representation framework for modeling multiply connected regions in control and verification applicatio…
A comparison between joint and dual UKF implementations for state estimation and leak localization in water distribution networks
Luis Romero-Ben, Paul Irofti, Florin Stoican +1
The sustainability of modern cities highly depends on efficient water distribution management, including effective pressure control and leak detection and localization. Accurate in…
Factor Graph Optimization for Leak Localization in Water Distribution Networks
Paul Irofti, Luis Romero-Ben, Florin Stoican +1
Detecting and localizing leaks in water distribution network systems is an important topic with direct environmental, economic, and social impact. Our paper is the first to explore…
Dual Unscented Kalman Filter Architecture for Sensor Fusion in Water Networks Leak Localization
Luis Romero-Ben, Paul Irofti, Florin Stoican +1
Leakage in water systems results in significant daily water losses, degrading service quality, increasing costs, and aggravating environmental problems. Most leak localization meth…